00001 /* 00002 * LLJoystick.hpp 00003 * 00004 * Created on: Oct 29, 2011 00005 * Author: mriedel 00006 */ 00007 00008 #ifndef LLJOYSTICK_HPP_ 00009 #define LLJOYSTICK_HPP_ 00010 00011 #include <telekyb_defines/telekyb_defines.hpp> 00012 #include <ros/ros.h> 00013 #include <sensor_msgs/Joy.h> 00014 #include <telekyb_msgs/TKTTCommands.h> 00015 00016 #include "LLJoystickOptions.hpp" 00017 00018 namespace TELEKYB_NAMESPACE { 00019 00020 00021 class LLJoystick { 00022 private: 00023 LLJoystickOptions options; 00024 00025 ros::NodeHandle nodeHandle; 00026 ros::Subscriber joystick; 00027 ros::Publisher llCommand; 00028 00029 int rollCmd; 00030 int pitchCmd; 00031 int yawCmd; 00032 int thrustCmd; 00033 00034 public: 00035 LLJoystick(); 00036 virtual ~LLJoystick(); 00037 00038 void joystickCB(const sensor_msgs::Joy::ConstPtr& msg); 00039 00040 void run(); 00041 }; 00042 00043 } 00044 00045 #endif /* LLJOYSTICK_HPP_ */
