Keyboard remote control for our robot core (mobile base). More...

#include <keyop_core.hpp>

Public Member Functions
bool	init ()
	Initialises the node. More...

	KeyOpCore ()
	Default constructor, needs initialisation. More...

void	spin ()
	Worker thread loop; sends current velocity command at a fixed rate. More...

	~KeyOpCore ()

Private Member Functions
void	decrementAngularVelocity ()
	If not already mined, decrement the angular velocities.. More...

void	decrementLinearVelocity ()
	If not already minned, decrement the linear velocities.. More...

void	disable ()
	Disables commands to the navigation system. More...

void	enable ()
	Reset/re-enable the navigation system. More...

void	incrementAngularVelocity ()
	If not already maxxed, increment the angular velocities.. More...

void	incrementLinearVelocity ()
	If not already maxxed, increment the command velocities.. More...

void	keyboardInputLoop ()
	The worker thread function that accepts input keyboard commands. More...

void	processKeyboardInput (char c)
	Process individual keyboard inputs. More...

void	remoteKeyInputReceived (const kobuki_msgs::KeyboardInput &key)
	Callback function for remote keyboard inputs subscriber. More...

void	resetVelocity ()

void	restoreTerminal ()

Private Attributes
bool	accept_incoming

double	angular_vel_max

double	angular_vel_step

geometry_msgs::TwistPtr	cmd

geometry_msgs::TwistStampedPtr	cmd_stamped

int	key_file_descriptor

ros::Subscriber	keyinput_subscriber

bool	last_zero_vel_sent

double	linear_vel_max

double	linear_vel_step

ros::Publisher	motor_power_publisher_

std::string	name

struct termios	original_terminal_state

bool	power_status

bool	quit_requested

ecl::Thread	thread

ros::Publisher	velocity_publisher_

bool	wait_for_connection_

Detailed Description

Keyboard remote control for our robot core (mobile base).

Definition at line 69 of file keyop_core.hpp.

Constructor & Destructor Documentation

keyop_core::KeyOpCore::KeyOpCore ( )

Default constructor, needs initialisation.

Definition at line 62 of file keyop_core.cpp.

keyop_core::KeyOpCore::~KeyOpCore ( )

Definition at line 78 of file keyop_core.cpp.

Member Function Documentation

void keyop_core::KeyOpCore::decrementAngularVelocity ( )

private

If not already mined, decrement the angular velocities..

Definition at line 460 of file keyop_core.cpp.

void keyop_core::KeyOpCore::decrementLinearVelocity ( )

private

If not already minned, decrement the linear velocities..

Definition at line 422 of file keyop_core.cpp.

void keyop_core::KeyOpCore::disable ( )

private

Disables commands to the navigation system.

This does the following things:

Disables power to the navigation motors (via device_manager).
Parameters

msg

Definition at line 351 of file keyop_core.cpp.

void keyop_core::KeyOpCore::enable ( )

private

Reset/re-enable the navigation system.

resets the command velocities.
reenable power if not enabled.

Definition at line 378 of file keyop_core.cpp.

void keyop_core::KeyOpCore::incrementAngularVelocity ( )

private

If not already maxxed, increment the angular velocities..

Definition at line 441 of file keyop_core.cpp.

void keyop_core::KeyOpCore::incrementLinearVelocity ( )

private

If not already maxxed, increment the command velocities..

Definition at line 403 of file keyop_core.cpp.

bool keyop_core::KeyOpCore::init ( )

Initialises the node.

Definition at line 86 of file keyop_core.cpp.

void keyop_core::KeyOpCore::keyboardInputLoop ( )

private

The worker thread function that accepts input keyboard commands.

This is ok here - but later it might be a good idea to make a node which posts keyboard events to a topic. Recycle common code if used by many!

Definition at line 238 of file keyop_core.cpp.

void keyop_core::KeyOpCore::processKeyboardInput ( char c )

private

Process individual keyboard inputs.

Parameters

c	keyboard input.

Definition at line 282 of file keyop_core.cpp.

void keyop_core::KeyOpCore::remoteKeyInputReceived ( const kobuki_msgs::KeyboardInput & key )

private

Callback function for remote keyboard inputs subscriber.

Definition at line 272 of file keyop_core.cpp.

void keyop_core::KeyOpCore::resetVelocity ( )

private

Definition at line 476 of file keyop_core.cpp.

void keyop_core::KeyOpCore::restoreTerminal ( )

private

void keyop_core::KeyOpCore::spin ( )

Worker thread loop; sends current velocity command at a fixed rate.

It also process ros functions as well as aborting when requested.

Definition at line 193 of file keyop_core.cpp.

Member Data Documentation

bool keyop_core::KeyOpCore::accept_incoming

private

Definition at line 89 of file keyop_core.hpp.

double keyop_core::KeyOpCore::angular_vel_max

private

Definition at line 95 of file keyop_core.hpp.

double keyop_core::KeyOpCore::angular_vel_step

private

Definition at line 95 of file keyop_core.hpp.

geometry_msgs::TwistPtr keyop_core::KeyOpCore::cmd

private

Definition at line 92 of file keyop_core.hpp.

geometry_msgs::TwistStampedPtr keyop_core::KeyOpCore::cmd_stamped

private

Definition at line 93 of file keyop_core.hpp.

int keyop_core::KeyOpCore::key_file_descriptor

private

Definition at line 118 of file keyop_core.hpp.

ros::Subscriber keyop_core::KeyOpCore::keyinput_subscriber

private

Definition at line 85 of file keyop_core.hpp.

bool keyop_core::KeyOpCore::last_zero_vel_sent

private

Definition at line 88 of file keyop_core.hpp.

double keyop_core::KeyOpCore::linear_vel_max

private

Definition at line 94 of file keyop_core.hpp.

double keyop_core::KeyOpCore::linear_vel_step

private

Definition at line 94 of file keyop_core.hpp.

ros::Publisher keyop_core::KeyOpCore::motor_power_publisher_

private

Definition at line 87 of file keyop_core.hpp.

std::string keyop_core::KeyOpCore::name

private

Definition at line 96 of file keyop_core.hpp.

struct termios keyop_core::KeyOpCore::original_terminal_state

private

Definition at line 119 of file keyop_core.hpp.

bool keyop_core::KeyOpCore::power_status

private

Definition at line 90 of file keyop_core.hpp.

bool keyop_core::KeyOpCore::quit_requested

private

Definition at line 117 of file keyop_core.hpp.

ecl::Thread keyop_core::KeyOpCore::thread

private

Definition at line 120 of file keyop_core.hpp.

ros::Publisher keyop_core::KeyOpCore::velocity_publisher_

private

Definition at line 86 of file keyop_core.hpp.

bool keyop_core::KeyOpCore::wait_for_connection_

private

Definition at line 91 of file keyop_core.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation