00001 00012 #ifndef YOUBOT_JOY_TELEOP_H_ 00013 #define YOUBOT_JOY_TELEOP_H_ 00014 00015 #include <geometry_msgs/Twist.h> 00016 #include <ros/ros.h> 00017 #include <sensor_msgs/Joy.h> 00018 00019 #define MAX_TRANS_VEL .8 00020 #define MAX_ANG_VEL 1.2 00021 00028 class youbot_joy_teleop 00029 { 00030 public: 00037 youbot_joy_teleop(); 00038 void joy_check(); 00039 00040 private: 00046 void joy_cback(const sensor_msgs::Joy::ConstPtr& joy); 00047 00048 ros::NodeHandle node; 00050 ros::Publisher cmd_vel; 00051 ros::Subscriber joy_sub; 00053 float linear_throttle_factor; 00054 float angular_throttle_factor; 00055 }; 00056 00064 int main(int argc, char **argv); 00065 00066 #endif