The class embodiment of the hek_teleop ROS node. More...

#include <hek_teleop.h>

Classes
struct	FirstPersonState
	First person state. More...
Public Types
enum	ButtonId { ButtonIdGotoBalPos = rnr::Xbox360FeatIdAButton, ButtonIdEStop = rnr::Xbox360FeatIdBButton, ButtonIdGotoParkedPos = rnr::Xbox360FeatIdXButton, ButtonIdGotoZeroPt = rnr::Xbox360FeatIdYButton, ButtonIdPause = rnr::Xbox360FeatIdBack, ButtonIdToggleMode = rnr::Xbox360FeatIdCenterX, ButtonIdStart = rnr::Xbox360FeatIdStart, ButtonIdPrevJoint = rnr::Xbox360FeatIdPadDown, ButtonIdNextJoint = rnr::Xbox360FeatIdPadUp, ButtonIdFineTune1 = rnr::Xbox360FeatIdLeftStickClick, ButtonIdFineTune2 = rnr::Xbox360FeatIdRightStickClick, ButtonIdMoveJoints = rnr::Xbox360FeatIdLeftJoyY, ButtonIdRotBase = rnr::Xbox360FeatIdLeftJoyX, ButtonIdPitchWrist = rnr::Xbox360FeatIdRightJoyY, ButtonIdRotWristCw = rnr::Xbox360FeatIdLeftBump, ButtonIdRotWristCcw = rnr::Xbox360FeatIdRightBump, ButtonIdOpenGripper = rnr::Xbox360FeatIdRightTrigger, ButtonIdCloseGripper = rnr::Xbox360FeatIdLeftTrigger }
	Xbox360 button map ids. More...
typedef std::map< int, int >	ButtonState
enum	LEDPat { LEDPatOff = XBOX360_LED_PAT_ALL_OFF, LEDPatOn = XBOX360_LED_PAT_ALL_BLINK, LEDPatPaused = XBOX360_LED_PAT_4_ON, LEDPatReady = XBOX360_LED_PAT_ALL_SPIN, LEDPatShoulder = XBOX360_LED_PAT_3_ON, LEDPatElbow = XBOX360_LED_PAT_1_ON }
	Xbox360 LED patterns. More...
typedef std::map< std::string, bool >	MapBool
typedef std::map< std::string, ros::ServiceClient >	MapClientServices
typedef std::map< std::string, double >	MapDouble
typedef std::map< std::string, int >	MapJointTraj
typedef std::map< std::string, ros::Publisher >	MapPublishers
typedef std::map< std::string, ros::ServiceServer >	MapServices
typedef std::map< std::string, ros::Subscriber >	MapSubscriptions
enum	TeleopMode { TeleopModeFirstPerson, TeleopModeShoulder, TeleopModeElbow }
	Teleoperation move modes. More...
enum	TeleopState { TeleopStateUninit, TeleopStatePaused, TeleopStateReady }
	Teleoperation state. More...
Public Member Functions
virtual void	advertisePublishers (int nQueueDepth=2)
	Advertise all publishers.
virtual void	advertiseServices ()
	Advertise all server services.
bool	canMove ()
	Test if robot can move.
virtual void	clientServices ()
	Initialize client services.
virtual void	commCheck ()
	Check communications.
int	countsPerSecond (double seconds)
	Convert seconds to loop counts.
ros::NodeHandle &	getNodeHandle ()
	Get bound node handle.
	HekTeleop (ros::NodeHandle &nh, double hz)
	Default initialization constructor.
virtual void	publish ()
	Publish.
void	putRobotInSafeMode (bool bHard)
	Put robot into safe mode.
virtual void	subscribeToTopics (int nQueueDepth=2)
	Subscribe to all topics.
virtual	~HekTeleop ()
	Destructor.
Protected Member Functions
ssize_t	addJointToTrajectoryPoint (const std::string &strJointName)
	Add a joint to the working joint trajectory point.
void	buttonCloseGripper (ButtonState &buttonState)
	Execute close gripper button action.
bool	buttonDiff (int id, ButtonState &buttonState)
	Test if button state is differenet.
void	buttonEStop (ButtonState &buttonState)
	Execute emergency stop button action.
void	buttonFineTune (ButtonState &buttonState)
	Execute fine tune manual movements button action.
void	buttonGotoBalancedPos (ButtonState &buttonState)
	Execute move to balanced position button action.
void	buttonGotoParkedPos (ButtonState &buttonState)
	Execute move to parked position button action.
void	buttonGotoZeroPt (ButtonState &buttonState)
	Execute move to zero point button action.
void	buttonMoveElbow (int joy)
	Execute elbow joint move button action.
void	buttonMoveFirstPerson (int joy)
	Execute first person multi-joint move button action.
void	buttonMoveJoints (ButtonState &buttonState)
	Execute (multi-)joint move button action.
void	buttonMoveShoulder (int joy)
	Execute shoulder joint move button action.
void	buttonNextJoint (ButtonState &buttonState)
	Execute shift to next joint button action.
bool	buttonOffToOn (int id, ButtonState &buttonState)
	Test if button transitions from off to on.
void	buttonOpenGripper (ButtonState &buttonState)
	Execute open gripper button action.
void	buttonPause (ButtonState &buttonState)
	Execute pause button action.
void	buttonPitchWrist (ButtonState &buttonState)
	Execute pitch wrist base button action.
void	buttonPrevJoint (ButtonState &buttonState)
	Execute shift to previous joint button action.
void	buttonRotateBase (ButtonState &buttonState)
	Execute rotation base button action.
void	buttonRotateWristCcw (ButtonState &buttonState)
	Execute rotation wrist counter-clockwise button action.
void	buttonRotateWristCw (ButtonState &buttonState)
	Execute rotation wrist clockwise button action.
void	buttonStart (ButtonState &buttonState)
	Execute start button action.
void	buttonToggleMode (ButtonState &buttonState)
	Execute toggle mode button action.
void	cbJointState (const hekateros_control::HekJointStateExtended &msg)
	Joint state callback.
void	cbRobotStatus (const hekateros_control::HekRobotStatusExtended &msg)
	Robot status callback.
void	cbXboxBttnState (const hid::Controller360State &msg)
	Xbox360 HID button state callback.
void	cbXboxConnStatus (const hid::ConnStatus &msg)
	Xbox360 HID connectivity status callback.
void	clearActiveTrajectory ()
	Clear active joint trajectory point.
void	clearWorkingTrajectory ()
	Clear working joint trajectory point.
void	closeGripper ()
	Close robot gripper client service.
void	driveLEDsFigure8Pattern ()
	Drive Xbox360 LEDs into a figure 8 pattern.
void	estop ()
	Emergency stop robot client service.
void	execAllButtonActions (ButtonState &buttonState)
	Execute all button actions.
void	freeze ()
	Freeze (stop) robot client service.
void	gotoBalancedPos ()
	Move robot to balanced position client service.
void	gotoParkedPos ()
	Move robot to parked position client service.
void	gotoZeroPt ()
	Move robot to zero point position client service.
bool	hasActiveJoint (const std::string strJointName)
	Checks if the joint is in the active trajectory.
bool	hasActiveTrajectory ()
	Checks if there exists an active trajectory.
bool	hasWorkingTrajectory ()
	Checks if there exists a non-zero, working trajectory.
void	msgToState (const hid::Controller360State &msg, ButtonState &buttonState)
	Convert Xbox360 controller message to button state.
void	pause ()
	Go to pause teleoperation state.
void	publishJointCmd ()
	Publish brake command.
void	publishRumbleCmd (int motorLeft, int motorRight)
	Publish Xbox360 rumble command.
void	ready ()
	Go to ready to teleoperate state.
void	resetActiveTeleop ()
	Reset joint teleoperation active state.
void	resetEStop ()
	Reset emergency stop client service.
ssize_t	setJoint (const std::string &strJointName, double pos, double vel)
void	setLED (int pattern)
	Set Xbox360 LED pattern client service.
void	setRobotMode (hekateros::HekRobotMode mode)
	Set robot mode client service.
void	setRumble (int motorLeft, int motorRight)
	Set Xbox360 rumble motors client service.
void	stop (const std::vector< std::string > &vecJointNames)
	Stop robot joints client service.
void	stopUnteleopJoints ()
Protected Attributes
bool	m_bHasFullComm
	good full communications
bool	m_bHasRobotComm
	robot communications is [not] good
bool	m_bHasXboxComm
	Xbox communications is [not] good.
bool	m_bPreemptMove
	preempt teleoperation move
bool	m_bRcvdJointState
	has [not] recieved any joint state
bool	m_bRcvdRobotStatus
	has [not] recieved any bot status
ButtonState	m_buttonState
	saved previous button state
MapClientServices	m_clientServices
	teleop client services
TeleopMode	m_eMode
	teleoperation mode
TeleopState	m_eState
	teleoperation state
double	m_fMoveTuning
	movement fine/course tuning
FirstPersonState	m_fpState
	first person state data
double	m_hz
	application nominal loop rate
MapDouble	m_mapCurPos
	current joint position by name
MapDouble	m_mapCurVel
	current joint velocity by name
MapDouble	m_mapGoalPos
	goal joint position by name
MapDouble	m_mapGoalVel
	goal joint velocity by name
MapBool	m_mapTeleop
	joints being teleoperated
MapJointTraj	m_mapTraj
	working traj. pt. index by name
trajectory_msgs::JointTrajectoryPoint	m_msgActiveJointTrajPoint
	active joint trajectory point msg
hid::ConnStatus	m_msgConnStatus
	saved last connection status msg
hekateros_control::HekJointStateExtended	m_msgJointState
	current extended joint state msg
trajectory_msgs::JointTrajectory	m_msgJointTraj
	working joint trajectory msg
trajectory_msgs::JointTrajectoryPoint	m_msgJointTrajPoint
	working joint trajectory point msg
hekateros_control::HekRobotStatusExtended	m_msgRobotStatus
	current extended robot status msg
ros::NodeHandle &	m_nh
	the node handler bound to this instance
int	m_nWdRobotCounter
	robot watchdog counter
int	m_nWdRobotTimeout
	robot watchdog timeout
int	m_nWdXboxCounter
	Xbox watchdog counter.
int	m_nWdXboxTimeout
	Xbox watchdog timeout.
MapPublishers	m_publishers
	teleop publishers
int	m_rumbleLeft
	saved previous left rumble speed
int	m_rumbleRight
	saved previous right rumble speed
MapServices	m_services
	teleop server services
MapSubscriptions	m_subscriptions
	teleop subscriptions

Detailed Description

The class embodiment of the hek_teleop ROS node.

Definition at line 152 of file hek_teleop.h.

Member Typedef Documentation

typedef std::map<int, int> hekateros_control::HekTeleop::ButtonState

teleop button state type

Definition at line 228 of file hek_teleop.h.

typedef std::map<std::string, bool> hekateros_control::HekTeleop::MapBool

map of booleans

Definition at line 171 of file hek_teleop.h.

typedef std::map<std::string, ros::ServiceClient> hekateros_control::HekTeleop::MapClientServices

map of ROS client services type

Definition at line 159 of file hek_teleop.h.

typedef std::map<std::string, double> hekateros_control::HekTeleop::MapDouble

map of doubles

Definition at line 168 of file hek_teleop.h.

typedef std::map<std::string, int> hekateros_control::HekTeleop::MapJointTraj

map of joint names to joint trajectory point indices

Definition at line 174 of file hek_teleop.h.

typedef std::map<std::string, ros::Publisher> hekateros_control::HekTeleop::MapPublishers

map of ROS publishers type

Definition at line 162 of file hek_teleop.h.

typedef std::map<std::string, ros::ServiceServer> hekateros_control::HekTeleop::MapServices

map of ROS server services type

Definition at line 156 of file hek_teleop.h.

typedef std::map<std::string, ros::Subscriber> hekateros_control::HekTeleop::MapSubscriptions

map of ROS subscriptions type

Definition at line 165 of file hek_teleop.h.

Member Enumeration Documentation

enum hekateros_control::HekTeleop::ButtonId

Xbox360 button map ids.

Enumerator:

ButtonIdGotoBalPos	goto balance pos
ButtonIdEStop	emergency stop
ButtonIdGotoParkedPos	goto parked pos
ButtonIdGotoZeroPt	goto zero point
ButtonIdPause	pause teleop
ButtonIdToggleMode	toggle op mode
ButtonIdStart	start teleop
ButtonIdPrevJoint	previous joint
ButtonIdNextJoint	next joint
ButtonIdFineTune1	fine tune
ButtonIdFineTune2	fine tune
ButtonIdMoveJoints	move fp/shldr/elb
ButtonIdRotBase	rotate base
ButtonIdPitchWrist	pitch wrist
ButtonIdRotWristCw	rotate wrist CW
ButtonIdRotWristCcw	rotate wrist CCW
ButtonIdOpenGripper	open gripper
ButtonIdCloseGripper	close gripper

Definition at line 199 of file hek_teleop.h.

enum hekateros_control::HekTeleop::LEDPat

Xbox360 LED patterns.

Enumerator:

LEDPatOff	all off
LEDPatOn	default xbox on pattern
LEDPatPaused	pause teleop pattern
LEDPatReady	spin, first-person mode
LEDPatShoulder	isolated shoulder move
LEDPatElbow	isolated elbow move

Definition at line 233 of file hek_teleop.h.

enum hekateros_control::HekTeleop::TeleopMode

Teleoperation move modes.

Enumerator:

TeleopModeFirstPerson	first person, multi-joint move mode
TeleopModeShoulder	move shoulder in isolation
TeleopModeElbow	move elbow in isolation

Definition at line 189 of file hek_teleop.h.

enum hekateros_control::HekTeleop::TeleopState

Teleoperation state.

Enumerator:

TeleopStateUninit	not initialized
TeleopStatePaused	paused
TeleopStateReady	ready and running

Definition at line 179 of file hek_teleop.h.

Constructor & Destructor Documentation

HekTeleop::HekTeleop	(	ros::NodeHandle &	nh,
		double	hz
	)

Default initialization constructor.

Parameters:

nh	Bound node handle.
hz	Application nominal loop rate in Hertz.

Definition at line 172 of file hek_teleop.cpp.

HekTeleop::~HekTeleop ( ) [virtual]

Destructor.

Definition at line 227 of file hek_teleop.cpp.

Member Function Documentation

ssize_t HekTeleop::addJointToTrajectoryPoint ( const std::string & strJointName ) [protected]

Add a joint to the working joint trajectory point.

The joint is only added if it does not exist in point.

The joint is initialized with the null goal trajectory. That is, the joint's goal position equals its current joint position, and with zero velocity and zero acceleration.

Parameters:

strJointName Joint name.

Returns:: Returns the index of the existing or added component to the trajectory point on success, -1 on failure.

Definition at line 1581 of file hek_teleop.cpp.

void HekTeleop::advertisePublishers ( int nQueueDepth = 2 ) [virtual]

Advertise all publishers.

Parameters:

nQueueDepth Maximum queue depth.

Definition at line 447 of file hek_teleop.cpp.

virtual void hekateros_control::HekTeleop::advertiseServices ( ) [inline, virtual]

Advertise all server services.

Definition at line 279 of file hek_teleop.h.

void HekTeleop::buttonCloseGripper ( ButtonState & buttonState ) [protected]

Execute close gripper button action.

Parameters:

buttonState New button state.

Definition at line 966 of file hek_teleop.cpp.

bool hekateros_control::HekTeleop::buttonDiff	(	int	id,
		ButtonState &	buttonState
	)		`[inline, protected]`

Test if button state is differenet.

Parameters:

id	Button id.
buttonState	New button state.

Returns:: Returns true or false.

Definition at line 579 of file hek_teleop.h.

void HekTeleop::buttonEStop ( ButtonState & buttonState ) [protected]

Execute emergency stop button action.

Parameters:

buttonState New button state.

Definition at line 914 of file hek_teleop.cpp.

void HekTeleop::buttonFineTune ( ButtonState & buttonState ) [protected]

Execute fine tune manual movements button action.

Parameters:

buttonState New button state.

Definition at line 896 of file hek_teleop.cpp.

void hekateros_control::HekTeleop::buttonGotoBalancedPos ( ButtonState & buttonState ) [inline, protected]

Execute move to balanced position button action.

Parameters:

buttonState New button state.

Definition at line 645 of file hek_teleop.h.

void hekateros_control::HekTeleop::buttonGotoParkedPos ( ButtonState & buttonState ) [inline, protected]

Execute move to parked position button action.

Parameters:

buttonState New button state.

Definition at line 660 of file hek_teleop.h.

void hekateros_control::HekTeleop::buttonGotoZeroPt ( ButtonState & buttonState ) [inline, protected]

Execute move to zero point button action.

Parameters:

buttonState New button state.

Definition at line 675 of file hek_teleop.h.

void HekTeleop::buttonMoveElbow ( int joy ) [protected]

Execute elbow joint move button action.

Parameters:

joy	New joystick value.

Definition at line 1275 of file hek_teleop.cpp.

void HekTeleop::buttonMoveFirstPerson ( int joy ) [protected]

Execute first person multi-joint move button action.

Parameters:

joy	New joystick value.

Definition at line 1060 of file hek_teleop.cpp.

void HekTeleop::buttonMoveJoints ( ButtonState & buttonState ) [protected]

Execute (multi-)joint move button action.

Parameters:

buttonState New button state.

Definition at line 1040 of file hek_teleop.cpp.

void HekTeleop::buttonMoveShoulder ( int joy ) [protected]

Execute shoulder joint move button action.

Parameters:

joy	New joystick value.

Definition at line 1237 of file hek_teleop.cpp.

void HekTeleop::buttonNextJoint ( ButtonState & buttonState ) [protected]

Execute shift to next joint button action.

Parameters:

buttonState New button state.

Definition at line 877 of file hek_teleop.cpp.

bool hekateros_control::HekTeleop::buttonOffToOn	(	int	id,
		ButtonState &	buttonState
	)		`[inline, protected]`

Test if button transitions from off to on.

Parameters:

id	Button id.
buttonState	New button state.

Returns:: Returns true or false.

Definition at line 566 of file hek_teleop.h.

void HekTeleop::buttonOpenGripper ( ButtonState & buttonState ) [protected]

Execute open gripper button action.

Parameters:

buttonState New button state.

Definition at line 1003 of file hek_teleop.cpp.

void HekTeleop::buttonPause ( ButtonState & buttonState ) [protected]

Execute pause button action.

Parameters:

buttonState New button state.

Definition at line 826 of file hek_teleop.cpp.

void HekTeleop::buttonPitchWrist ( ButtonState & buttonState ) [protected]

Execute pitch wrist base button action.

Parameters:

buttonState New button state.

Definition at line 1351 of file hek_teleop.cpp.

void HekTeleop::buttonPrevJoint ( ButtonState & buttonState ) [protected]

Execute shift to previous joint button action.

Parameters:

buttonState New button state.

Definition at line 858 of file hek_teleop.cpp.

void HekTeleop::buttonRotateBase ( ButtonState & buttonState ) [protected]

Execute rotation base button action.

Parameters:

buttonState New button state.

Definition at line 1313 of file hek_teleop.cpp.

void HekTeleop::buttonRotateWristCcw ( ButtonState & buttonState ) [protected]

Execute rotation wrist counter-clockwise button action.

Parameters:

buttonState New button state.

Definition at line 1422 of file hek_teleop.cpp.

void HekTeleop::buttonRotateWristCw ( ButtonState & buttonState ) [protected]

Execute rotation wrist clockwise button action.

Parameters:

buttonState New button state.

Definition at line 1390 of file hek_teleop.cpp.

void HekTeleop::buttonStart ( ButtonState & buttonState ) [protected]

Execute start button action.

Parameters:

buttonState New button state.

Definition at line 809 of file hek_teleop.cpp.

void HekTeleop::buttonToggleMode ( ButtonState & buttonState ) [protected]

Execute toggle mode button action.

Parameters:

buttonState New button state.

Definition at line 838 of file hek_teleop.cpp.

bool hekateros_control::HekTeleop::canMove ( ) [inline]

Test if robot can move.

Returns:: Returns true or false.

Definition at line 333 of file hek_teleop.h.

void HekTeleop::cbJointState ( const hekateros_control::HekJointStateExtended & msg ) [protected]

Joint state callback.

Parameters:

msg	Received subscribed topic.

Definition at line 543 of file hek_teleop.cpp.

void HekTeleop::cbRobotStatus ( const hekateros_control::HekRobotStatusExtended & msg ) [protected]

Robot status callback.

Parameters:

msg	Received subscribed topic.

Definition at line 531 of file hek_teleop.cpp.

void HekTeleop::cbXboxBttnState ( const hid::Controller360State & msg ) [protected]

Xbox360 HID button state callback.

Parameters:

msg	Received subscribed topic.

Definition at line 617 of file hek_teleop.cpp.

void HekTeleop::cbXboxConnStatus ( const hid::ConnStatus & msg ) [protected]

Xbox360 HID connectivity status callback.

Parameters:

msg	Received subscribed topic.

Definition at line 607 of file hek_teleop.cpp.

void HekTeleop::clearActiveTrajectory ( ) [protected]

Clear active joint trajectory point.

Definition at line 1624 of file hek_teleop.cpp.

void HekTeleop::clearWorkingTrajectory ( ) [protected]

Clear working joint trajectory point.

Definition at line 1612 of file hek_teleop.cpp.

void HekTeleop::clientServices ( ) [virtual]

Initialize client services.

Definition at line 241 of file hek_teleop.cpp.

void hekateros_control::HekTeleop::closeGripper ( ) [protected]

Close robot gripper client service.

void HekTeleop::commCheck ( ) [virtual]

Check communications.

Call in main loop.

Definition at line 650 of file hek_teleop.cpp.

int hekateros_control::HekTeleop::countsPerSecond ( double seconds ) [inline]

Convert seconds to loop counts.

Parameters:

seconds Seconds.

Returns:: Count.

Definition at line 366 of file hek_teleop.h.

void HekTeleop::driveLEDsFigure8Pattern ( ) [protected]

Drive Xbox360 LEDs into a figure 8 pattern.

Definition at line 1475 of file hek_teleop.cpp.

void HekTeleop::estop ( ) [protected]

Emergency stop robot client service.

Definition at line 326 of file hek_teleop.cpp.

void HekTeleop::execAllButtonActions ( ButtonState & buttonState ) [protected]

Execute all button actions.

Parameters:

buttonState New button state.

Definition at line 739 of file hek_teleop.cpp.

void HekTeleop::freeze ( ) [protected]

Freeze (stop) robot client service.

Definition at line 340 of file hek_teleop.cpp.

ros::NodeHandle& hekateros_control::HekTeleop::getNodeHandle ( ) [inline]

Get bound node handle.

Returns:: Node handle.

Definition at line 354 of file hek_teleop.h.

void HekTeleop::gotoBalancedPos ( ) [protected]

Move robot to balanced position client service.

Definition at line 354 of file hek_teleop.cpp.

void HekTeleop::gotoParkedPos ( ) [protected]

Move robot to parked position client service.

Definition at line 368 of file hek_teleop.cpp.

void HekTeleop::gotoZeroPt ( ) [protected]

Move robot to zero point position client service.

Definition at line 382 of file hek_teleop.cpp.

bool hekateros_control::HekTeleop::hasActiveJoint ( const std::string strJointName ) [inline, protected]

Checks if the joint is in the active trajectory.

Parameters:

strJointName Joint name.

Returns:: Returns true or false.

Definition at line 782 of file hek_teleop.h.

bool hekateros_control::HekTeleop::hasActiveTrajectory ( ) [inline, protected]

Checks if there exists an active trajectory.

Returns:: Returns true or false.

Definition at line 792 of file hek_teleop.h.

bool hekateros_control::HekTeleop::hasWorkingTrajectory ( ) [inline, protected]

Checks if there exists a non-zero, working trajectory.

Returns:: Returns true or false.

Definition at line 802 of file hek_teleop.h.

void HekTeleop::msgToState	(	const hid::Controller360State &	msg,
		ButtonState &	buttonState
	)		`[protected]`

Convert Xbox360 controller message to button state.

Parameters:

msg	Message.
buttonState	New button state.

Definition at line 710 of file hek_teleop.cpp.

void HekTeleop::pause ( ) [protected]

Go to pause teleoperation state.

Definition at line 1459 of file hek_teleop.cpp.

virtual void hekateros_control::HekTeleop::publish ( ) [inline, virtual]

Publish.

Call in main loop.

Definition at line 308 of file hek_teleop.h.

void HekTeleop::publishJointCmd ( ) [protected]

Publish brake command.

Definition at line 460 of file hek_teleop.cpp.

void HekTeleop::publishRumbleCmd	(	int	motorLeft,
		int	motorRight
	)		`[protected]`

Publish Xbox360 rumble command.

Definition at line 490 of file hek_teleop.cpp.

void HekTeleop::putRobotInSafeMode ( bool bHard )

Put robot into safe mode.

Parameters:

bHard Harden safe mode. When teleop node dies or xbox is physically disconnected, robot is set to known defaults.

Definition at line 686 of file hek_teleop.cpp.

void HekTeleop::ready ( ) [protected]

Go to ready to teleoperate state.

Definition at line 1467 of file hek_teleop.cpp.

void HekTeleop::resetActiveTeleop ( ) [protected]

Reset joint teleoperation active state.

Definition at line 1630 of file hek_teleop.cpp.

void HekTeleop::resetEStop ( ) [protected]

Reset emergency stop client service.

Definition at line 396 of file hek_teleop.cpp.

ssize_t HekTeleop::setJoint	(	const std::string &	strJointName,
		double	pos,
		double	vel
	)		`[protected]`

Definition at line 1541 of file hek_teleop.cpp.

void HekTeleop::setLED ( int pattern ) [protected]

Set Xbox360 LED pattern client service.

Parameters:

pattern LED pattern.

Definition at line 285 of file hek_teleop.cpp.

void HekTeleop::setRobotMode ( hekateros::HekRobotMode mode ) [protected]

Set robot mode client service.

Parameters:

mode	Auto or manual mode.

Definition at line 410 of file hek_teleop.cpp.

void HekTeleop::setRumble	(	int	motorLeft,
		int	motorRight
	)		`[protected]`

Set Xbox360 rumble motors client service.

Parameters:

motorLeft	Left motor speed.
motorRight	Right motor speed.

Definition at line 301 of file hek_teleop.cpp.

void HekTeleop::stop ( const std::vector< std::string > & vecJointNames ) [protected]

Stop robot joints client service.

Parameters:

vecJointNames Vector of joint names.

Definition at line 426 of file hek_teleop.cpp.

void HekTeleop::stopUnteleopJoints ( ) [protected]

Definition at line 1501 of file hek_teleop.cpp.

void HekTeleop::subscribeToTopics ( int nQueueDepth = 2 ) [virtual]

Subscribe to all topics.

Parameters:

nQueueDepth Maximum queue depth.

Definition at line 506 of file hek_teleop.cpp.

Member Data Documentation

bool hekateros_control::HekTeleop::m_bHasFullComm [protected]

good full communications

Definition at line 392 of file hek_teleop.h.

bool hekateros_control::HekTeleop::m_bHasRobotComm [protected]

robot communications is [not] good

Definition at line 387 of file hek_teleop.h.

bool hekateros_control::HekTeleop::m_bHasXboxComm [protected]

Xbox communications is [not] good.

Definition at line 384 of file hek_teleop.h.

bool hekateros_control::HekTeleop::m_bPreemptMove [protected]

preempt teleoperation move

Definition at line 397 of file hek_teleop.h.

bool hekateros_control::HekTeleop::m_bRcvdJointState [protected]

has [not] recieved any joint state

Definition at line 391 of file hek_teleop.h.

bool hekateros_control::HekTeleop::m_bRcvdRobotStatus [protected]

has [not] recieved any bot status

Definition at line 390 of file hek_teleop.h.

ButtonState hekateros_control::HekTeleop::m_buttonState [protected]

saved previous button state

Definition at line 393 of file hek_teleop.h.

MapClientServices hekateros_control::HekTeleop::m_clientServices [protected]

teleop client services

Definition at line 377 of file hek_teleop.h.

TeleopMode hekateros_control::HekTeleop::m_eMode [protected]

teleoperation mode

Definition at line 383 of file hek_teleop.h.

TeleopState hekateros_control::HekTeleop::m_eState [protected]

teleoperation state

Definition at line 382 of file hek_teleop.h.

double hekateros_control::HekTeleop::m_fMoveTuning [protected]

movement fine/course tuning

Definition at line 398 of file hek_teleop.h.

FirstPersonState hekateros_control::HekTeleop::m_fpState [protected]

first person state data

Definition at line 396 of file hek_teleop.h.

double hekateros_control::HekTeleop::m_hz [protected]

application nominal loop rate

Definition at line 373 of file hek_teleop.h.

MapDouble hekateros_control::HekTeleop::m_mapCurPos [protected]

current joint position by name

Definition at line 399 of file hek_teleop.h.

MapDouble hekateros_control::HekTeleop::m_mapCurVel [protected]

current joint velocity by name

Definition at line 400 of file hek_teleop.h.

MapDouble hekateros_control::HekTeleop::m_mapGoalPos [protected]

goal joint position by name

Definition at line 401 of file hek_teleop.h.

MapDouble hekateros_control::HekTeleop::m_mapGoalVel [protected]

goal joint velocity by name

Definition at line 402 of file hek_teleop.h.

MapBool hekateros_control::HekTeleop::m_mapTeleop [protected]

joints being teleoperated

Definition at line 403 of file hek_teleop.h.

MapJointTraj hekateros_control::HekTeleop::m_mapTraj [protected]

working traj. pt. index by name

Definition at line 404 of file hek_teleop.h.

trajectory_msgs::JointTrajectoryPoint hekateros_control::HekTeleop::m_msgActiveJointTrajPoint [protected]

active joint trajectory point msg

Definition at line 412 of file hek_teleop.h.

hid::ConnStatus hekateros_control::HekTeleop::m_msgConnStatus [protected]

saved last connection status msg

Definition at line 418 of file hek_teleop.h.

hekateros_control::HekJointStateExtended hekateros_control::HekTeleop::m_msgJointState [protected]

current extended joint state msg

Definition at line 410 of file hek_teleop.h.

trajectory_msgs::JointTrajectory hekateros_control::HekTeleop::m_msgJointTraj [protected]

working joint trajectory msg

Definition at line 416 of file hek_teleop.h.

trajectory_msgs::JointTrajectoryPoint hekateros_control::HekTeleop::m_msgJointTrajPoint [protected]

working joint trajectory point msg

Definition at line 414 of file hek_teleop.h.

hekateros_control::HekRobotStatusExtended hekateros_control::HekTeleop::m_msgRobotStatus [protected]

current extended robot status msg

Definition at line 408 of file hek_teleop.h.

ros::NodeHandle& hekateros_control::HekTeleop::m_nh [protected]

the node handler bound to this instance

Definition at line 372 of file hek_teleop.h.

int hekateros_control::HekTeleop::m_nWdRobotCounter [protected]

robot watchdog counter

Definition at line 388 of file hek_teleop.h.

int hekateros_control::HekTeleop::m_nWdRobotTimeout [protected]

robot watchdog timeout

Definition at line 389 of file hek_teleop.h.

int hekateros_control::HekTeleop::m_nWdXboxCounter [protected]

Xbox watchdog counter.

Definition at line 385 of file hek_teleop.h.

int hekateros_control::HekTeleop::m_nWdXboxTimeout [protected]

Xbox watchdog timeout.

Definition at line 386 of file hek_teleop.h.

MapPublishers hekateros_control::HekTeleop::m_publishers [protected]

teleop publishers

Definition at line 378 of file hek_teleop.h.

int hekateros_control::HekTeleop::m_rumbleLeft [protected]

saved previous left rumble speed

Definition at line 394 of file hek_teleop.h.

int hekateros_control::HekTeleop::m_rumbleRight [protected]

saved previous right rumble speed

Definition at line 395 of file hek_teleop.h.

MapServices hekateros_control::HekTeleop::m_services [protected]

teleop server services

Definition at line 376 of file hek_teleop.h.

MapSubscriptions hekateros_control::HekTeleop::m_subscriptions [protected]

teleop subscriptions

Definition at line 379 of file hek_teleop.h.

The documentation for this class was generated from the following files:

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