#include <ros/ros.h>
#include <cstdio>
#include <cstdlib>
#include <sensor_msgs/Joy.h>
#include <sensor_msgs/JointState.h>
#include <control_msgs/JointTrajectoryControllerState.h>
#include <std_msgs/Float64.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <geometry_msgs/Twist.h>
#include <cstdint>
#include <boost/optional.hpp>
#include <unordered_map>

Include dependency graph for quori_teleop_node.cpp:

Classes
struct	std::hash< Joint >

struct	JointCommand

struct	XboxControllerState

Namespaces
	std

Enumerations
enum	Joint : std::uint8_t { Joint::LeftArm1, Joint::LeftArm2, Joint::RightArm1, Joint::RightArm2, Joint::WaistHinge, Joint::BaseLeft, Joint::BaseRight, Joint::BaseTurret }

Functions
double	lookup_latest_position (const std::string &name)

int	main (int argc, char *argv[])

void	on_joint_states (const sensor_msgs::JointState::ConstPtr &msg)

void	on_joy (const sensor_msgs::Joy::ConstPtr &msg)

Variables
struct JointCommand	command

const static std::unordered_map< Joint, std::string >	JOINT_NAMES

sensor_msgs::JointState::ConstPtr	joint_states

trajectory_msgs::JointTrajectory	traj

geometry_msgs::Twist	vel

Enumeration Type Documentation

◆ Joint

enum Joint : std::uint8_t

strong

Enumerator
LeftArm1
LeftArm2
RightArm1
RightArm2
WaistHinge
BaseLeft
BaseRight
BaseTurret

Definition at line 18 of file quori_teleop_node.cpp.

Function Documentation

◆ lookup_latest_position()

double lookup_latest_position ( const std::string & name )

Definition at line 110 of file quori_teleop_node.cpp.

◆ main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 182 of file quori_teleop_node.cpp.

◆ on_joint_states()

void on_joint_states ( const sensor_msgs::JointState::ConstPtr & msg )

Definition at line 105 of file quori_teleop_node.cpp.

◆ on_joy()

void on_joy ( const sensor_msgs::Joy::ConstPtr & msg )

Definition at line 124 of file quori_teleop_node.cpp.

Variable Documentation

◆ command

struct JointCommand command

◆ JOINT_NAMES

const static std::unordered_map<Joint, std::string> JOINT_NAMES

static

Initial value:

{
  { Joint::BaseLeft, "l_wheel" },
  { Joint::BaseRight, "r_wheel" },
  { Joint::BaseTurret, "turret" },
  { Joint::LeftArm1, "l_shoulder_pitch" },
  { Joint::LeftArm2, "l_shoulder_roll" },
  { Joint::RightArm1, "r_shoulder_pitch" },
  { Joint::RightArm2, "r_shoulder_roll" },
  { Joint::WaistHinge, "waist_pitch" }
}

Definition at line 41 of file quori_teleop_node.cpp.

◆ joint_states

sensor_msgs::JointState::ConstPtr joint_states

Definition at line 103 of file quori_teleop_node.cpp.

◆ traj

trajectory_msgs::JointTrajectory traj

Definition at line 67 of file quori_teleop_node.cpp.

◆ vel

geometry_msgs::Twist vel

Definition at line 66 of file quori_teleop_node.cpp.

Classes

Namespaces

Enumerations

Functions

Variables