JoystickDemo.h

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#ifndef JOYSTICKDEMO_H_
#define JOYSTICKDEMO_H_
 
#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
#include <std_msgs/Empty.h>
 
#include <dbw_fca_msgs/ThrottleCmd.h>
#include <dbw_fca_msgs/BrakeCmd.h>
#include <dbw_fca_msgs/SteeringCmd.h>
#include <dbw_fca_msgs/GearCmd.h>
#include <dbw_fca_msgs/TurnSignalCmd.h>
 
typedef struct {
  ros::Time stamp;
  float brake_joy;
  float throttle_joy;
  float steering_joy;
  bool steering_mult;
  int gear_cmd;
  int turn_signal_cmd;
  int door_select;
  int door_action;
  bool joy_throttle_valid;
  bool joy_brake_valid;
} JoystickDataStruct;
 
class JoystickDemo {
public:
  JoystickDemo(ros::NodeHandle &node, ros::NodeHandle &priv_nh);
private:
  void recvJoy(const sensor_msgs::Joy::ConstPtr& msg);
  void cmdCallback(const ros::TimerEvent& event);
 
  // Topics
  ros::Subscriber sub_joy_;
  ros::Publisher pub_brake_;
  ros::Publisher pub_throttle_;
  ros::Publisher pub_steering_;
  ros::Publisher pub_gear_;
  ros::Publisher pub_turn_signal_;
  ros::Publisher pub_enable_;
  ros::Publisher pub_disable_;
 
  // Parameters
  bool brake_; // Send brake commands
  bool throttle_; // Send throttle commands
  bool steer_; // Send steering commands
  bool shift_; // Send shift commands
  bool signal_; // Send turn signal commands
 
  // Parameters
  float brake_gain_; // Adjust brake value
  float throttle_gain_; // Adjust throttle value
 
  // Parameters
  bool ignore_; // Ignore driver overrides
  bool enable_; // Use enable and disable buttons
  bool count_; // Increment counter to enable watchdog
  bool strq_; // Steering torque command (otherwise angle)
  float svel_; // Steering command speed
 
  // Variables
  ros::Timer timer_;
  JoystickDataStruct data_;
  sensor_msgs::Joy joy_;
  uint8_t counter_;
  float last_steering_filt_output_;
 
  enum {
    BTN_PARK = 3,
    BTN_REVERSE = 1,
    BTN_NEUTRAL = 2,
    BTN_DRIVE = 0,
    BTN_ENABLE = 5,
    BTN_DISABLE = 4,
    BTN_STEER_MULT_1 = 6,
    BTN_STEER_MULT_2 = 7,
    BTN_TRUNK_OPEN = 9,
    BTN_TRUNK_CLOSE = 10,
    BTN_COUNT_X = 11,
    BTN_COUNT_D = 12,
    AXIS_THROTTLE = 5,
    AXIS_BRAKE = 2,
    AXIS_STEER_1 = 0,
    AXIS_STEER_2 = 3,
    AXIS_TURN_SIG = 6,
    AXIS_DOOR_SELECT = 6,
    AXIS_DOOR_ACTION = 7,
    AXIS_COUNT_D = 6,
    AXIS_COUNT_X = 8,
  };
};
 
#endif /* JOYSTICKDEMO_H_ */