IRI ROS Specific Algorithm Class. More...
#include <platform_teleop_alg_node.h>
Public Member Functions | |
PlatformTeleopAlgNode (void) | |
Constructor. | |
~PlatformTeleopAlgNode (void) | |
Destructor. | |
Protected Member Functions | |
void | addNodeDiagnostics (void) |
node add diagnostics | |
geometry_msgs::Twist | generateTwist (void) |
generate twist | |
void | mainNodeThread (void) |
main node thread | |
void | node_config_update (Config &config, uint32_t level) |
dynamic reconfigure server callback | |
void | useAxes (const float &axe_value, const unsigned int &index) |
use button | |
bool | useButton (const unsigned int &index) |
use button | |
void | useExtraButton (const unsigned int &index) |
use extra button | |
Static Protected Member Functions | |
static bool | check_movement_axes_callback (const std::vector< float > &axes, std::vector< unsigned int > &index) |
check used axes | |
Private Member Functions | |
void | joy_callback (const sensor_msgs::Joy::ConstPtr &joy_msg) |
Private Attributes | |
bool | check_human_ |
check or not if human is alive | |
ros::Publisher | cmd_vel_publisher_ |
float | dVR_ |
translational increment velocity | |
float | dVT_ |
translational increment velocity | |
bool | human_is_alive_ |
Tells if the human user is alive. | |
CMutex | joy_mutex_ |
ros::Subscriber | joy_subscriber_ |
std::vector< int > | prev_axes_ |
last used joystick axes | |
std::vector< int > | prev_buttons_ |
last pressed joysting buttons | |
float | vR_ |
rotational velocity | |
float | vT_ |
translational velocity |
IRI ROS Specific Algorithm Class.
Definition at line 43 of file platform_teleop_alg_node.h.
Constructor.
This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.
Definition at line 5 of file platform_teleop_alg_node.cpp.
Destructor.
This destructor frees all necessary dynamic memory allocated within this this class.
Definition at line 32 of file platform_teleop_alg_node.cpp.
void PlatformTeleopAlgNode::addNodeDiagnostics | ( | void | ) | [protected, virtual] |
node add diagnostics
In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.
Implements algorithm_base::IriBaseAlgorithm< PlatformTeleopAlgorithm >.
Definition at line 120 of file platform_teleop_alg_node.cpp.
bool PlatformTeleopAlgNode::check_movement_axes_callback | ( | const std::vector< float > & | axes, |
std::vector< unsigned int > & | index | ||
) | [static, protected] |
check used axes
This function receives a vector with the state from all joystick axes. If none of the axes has been used, returns false, otherwise returns a vector with the indexes for the used axes.
axes | vector with the current state of each axe |
index | vector with the indexes for each used axe |
Definition at line 124 of file platform_teleop_alg_node.cpp.
geometry_msgs::Twist PlatformTeleopAlgNode::generateTwist | ( | void | ) | [protected] |
generate twist
This function fills up a twist message with current translational and rotational velocities (vT, vR).
Definition at line 142 of file platform_teleop_alg_node.cpp.
void PlatformTeleopAlgNode::joy_callback | ( | const sensor_msgs::Joy::ConstPtr & | joy_msg | ) | [private] |
Definition at line 50 of file platform_teleop_alg_node.cpp.
void PlatformTeleopAlgNode::mainNodeThread | ( | void | ) | [protected, virtual] |
main node thread
This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.
Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.
Implements algorithm_base::IriBaseAlgorithm< PlatformTeleopAlgorithm >.
Definition at line 37 of file platform_teleop_alg_node.cpp.
void PlatformTeleopAlgNode::node_config_update | ( | Config & | config, |
uint32_t | level | ||
) | [protected, virtual] |
dynamic reconfigure server callback
This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.
config | an object with new configuration from all algorithm parameters defined in the config file. |
level | integer referring the level in which the configuration has been changed. |
Implements algorithm_base::IriBaseAlgorithm< PlatformTeleopAlgorithm >.
Definition at line 111 of file platform_teleop_alg_node.cpp.
void PlatformTeleopAlgNode::useAxes | ( | const float & | axe_value, |
const unsigned int & | index | ||
) | [protected] |
use button
This function receives the value of a single axe and its index and triggers corresponding action defined.
axe_value | axe value |
index | joystick button index |
Definition at line 244 of file platform_teleop_alg_node.cpp.
bool PlatformTeleopAlgNode::useButton | ( | const unsigned int & | index | ) | [protected] |
use button
This function receives a single button index and updates current state according to the behavior defined. Updates velocities according to axes and calls useExtraButton for further actions with other buttons.
index | joystick button index |
Definition at line 152 of file platform_teleop_alg_node.cpp.
void PlatformTeleopAlgNode::useExtraButton | ( | const unsigned int & | index | ) | [protected] |
use extra button
This function receives a single button index and updates current state according to the behavior defined. Called by useButton, for pruposes beyond navigation.
index | joystick button index |
Definition at line 219 of file platform_teleop_alg_node.cpp.
bool PlatformTeleopAlgNode::check_human_ [private] |
check or not if human is alive
If this option is true, the user has to press the button B all time in order to give velocity to the robot
Definition at line 112 of file platform_teleop_alg_node.h.
Definition at line 47 of file platform_teleop_alg_node.h.
float PlatformTeleopAlgNode::dVR_ [private] |
translational increment velocity
Rotational platform velocity in [rad/s] to increment vR_.
Definition at line 88 of file platform_teleop_alg_node.h.
float PlatformTeleopAlgNode::dVT_ [private] |
translational increment velocity
Translational platform velocity in [m/s] to increment vT_.
Definition at line 81 of file platform_teleop_alg_node.h.
bool PlatformTeleopAlgNode::human_is_alive_ [private] |
Tells if the human user is alive.
Depending on the button B this will be true or false. This is an option through check_human_
Definition at line 120 of file platform_teleop_alg_node.h.
CMutex PlatformTeleopAlgNode::joy_mutex_ [private] |
Definition at line 52 of file platform_teleop_alg_node.h.
Definition at line 50 of file platform_teleop_alg_node.h.
std::vector<int> PlatformTeleopAlgNode::prev_axes_ [private] |
last used joystick axes
Vector with indexes to last used axes to avoid multiple commands without releasing a button.
Definition at line 104 of file platform_teleop_alg_node.h.
std::vector<int> PlatformTeleopAlgNode::prev_buttons_ [private] |
last pressed joysting buttons
Vector with indexes to last joystick pressed buttons to avoid multiple commands without releasing a button.
Definition at line 96 of file platform_teleop_alg_node.h.
float PlatformTeleopAlgNode::vR_ [private] |
rotational velocity
Rotational platform velocity in [rad/s] to be published with twist.
Definition at line 74 of file platform_teleop_alg_node.h.
float PlatformTeleopAlgNode::vT_ [private] |
translational velocity
Translational platform velocity in [m/s] to be published with twist.
Definition at line 67 of file platform_teleop_alg_node.h.