#include <sensor_msgs/msg/joy.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <control_msgs/msg/joint_jog.hpp>
#include <std_srvs/srv/trigger.hpp>
#include <moveit_msgs/msg/planning_scene.hpp>
#include <rclcpp/client.hpp>
#include <rclcpp/experimental/buffers/intra_process_buffer.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/publisher.hpp>
#include <rclcpp/qos.hpp>
#include <rclcpp/qos_event.hpp>
#include <rclcpp/subscription.hpp>
#include <rclcpp/time.hpp>
#include <rclcpp/utilities.hpp>
#include <thread>
#include <rclcpp_components/register_node_macro.hpp>

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Classes
class	moveit_servo::JoyToServoPub

Namespaces
	moveit_servo

Enumerations
enum	Axis { LEFT_STICK_X = 0 , LEFT_STICK_Y = 1 , LEFT_TRIGGER = 2 , RIGHT_STICK_X = 3 , RIGHT_STICK_Y = 4 , RIGHT_TRIGGER = 5 , D_PAD_X = 6 , D_PAD_Y = 7 }

enum	Button { A = 0 , B = 1 , X = 2 , Y = 3 , LEFT_BUMPER = 4 , RIGHT_BUMPER = 5 , CHANGE_VIEW = 6 , MENU = 7 , HOME = 8 , LEFT_STICK_CLICK = 9 , RIGHT_STICK_CLICK = 10 }

Functions
bool	convertJoyToCmd (const std::vector< float > &axes, const std::vector< int > &buttons, std::unique_ptr< geometry_msgs::msg::TwistStamped > &twist, std::unique_ptr< control_msgs::msg::JointJog > &joint)
	// This converts a joystick axes and buttons array to a TwistStamped or JointJog message More...

void	updateCmdFrame (std::string &frame_name, const std::vector< int > &buttons)
	// This should update the frame_to_publish_ as needed for changing command frame via controller More...

Variables
const std::string	JOY_TOPIC = "/joy"

const std::string	TWIST_TOPIC = "/servo_node/delta_twist_cmds"

const std::string	JOINT_TOPIC = "/servo_node/delta_joint_cmds"

const std::string	EEF_FRAME_ID = "panda_hand"

const std::string	BASE_FRAME_ID = "panda_link0"

std::map< Axis, double >	AXIS_DEFAULTS = { { LEFT_TRIGGER, 1.0 }, { RIGHT_TRIGGER, 1.0 } }

std::map< Button, double >	BUTTON_DEFAULTS

Enumeration Type Documentation

◆ Axis

enum Axis

Enumerator
LEFT_STICK_X
LEFT_STICK_Y
LEFT_TRIGGER
RIGHT_STICK_X
RIGHT_STICK_Y
RIGHT_TRIGGER
D_PAD_X
D_PAD_Y

Definition at line 66 of file joystick_servo_example.cpp.

◆ Button

enum Button

Enumerator
A
B
X
Y
LEFT_BUMPER
RIGHT_BUMPER
CHANGE_VIEW
MENU
HOME
LEFT_STICK_CLICK
RIGHT_STICK_CLICK

Definition at line 77 of file joystick_servo_example.cpp.

Function Documentation

◆ convertJoyToCmd()

bool convertJoyToCmd	(	const std::vector< float > &	axes,
		const std::vector< int > &	buttons,
		std::unique_ptr< geometry_msgs::msg::TwistStamped > &	twist,
		std::unique_ptr< control_msgs::msg::JointJog > &	joint
	)

// This converts a joystick axes and buttons array to a TwistStamped or JointJog message

Parameters

axes	The vector of continuous controller joystick axes
buttons	The vector of discrete controller button values
twist	A TwistStamped message to update in prep for publishing
joint	A JointJog message to update in prep for publishing

Returns: return true if you want to publish a Twist, false if you want to publish a JointJog

Definition at line 106 of file joystick_servo_example.cpp.

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◆ updateCmdFrame()

void updateCmdFrame	(	std::string &	frame_name,
		const std::vector< int > &	buttons
	)

// This should update the frame_to_publish_ as needed for changing command frame via controller

Parameters

frame_name	Set the command frame to this
buttons	The vector of discrete controller button values

Definition at line 150 of file joystick_servo_example.cpp.

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Variable Documentation

◆ AXIS_DEFAULTS

std::map<Axis, double> AXIS_DEFAULTS = { { LEFT_TRIGGER, 1.0 }, { RIGHT_TRIGGER, 1.0 } }

Definition at line 94 of file joystick_servo_example.cpp.

◆ BASE_FRAME_ID

const std::string BASE_FRAME_ID = "panda_link0"

Definition at line 62 of file joystick_servo_example.cpp.

◆ BUTTON_DEFAULTS

std::map<Button, double> BUTTON_DEFAULTS

Definition at line 95 of file joystick_servo_example.cpp.

◆ EEF_FRAME_ID

const std::string EEF_FRAME_ID = "panda_hand"

Definition at line 61 of file joystick_servo_example.cpp.

◆ JOINT_TOPIC

const std::string JOINT_TOPIC = "/servo_node/delta_joint_cmds"

Definition at line 60 of file joystick_servo_example.cpp.

◆ JOY_TOPIC

const std::string JOY_TOPIC = "/joy"

Definition at line 58 of file joystick_servo_example.cpp.

◆ TWIST_TOPIC

const std::string TWIST_TOPIC = "/servo_node/delta_twist_cmds"

Definition at line 59 of file joystick_servo_example.cpp.

Classes

Namespaces

Enumerations

Functions

Variables