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ENABLE_BUTTON is now optional. Also added a braking button. #22

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ENABLE_BUTTON is now optional. Also added a braking button. #22

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e6a27af
enable_button can be disabled by assinging to it value -1 .Because wi…
andresgongora May 12, 2016
51e94e8
Added breaking button with always enabled movement config-file example
andresgongora May 12, 2016
3f47193
Fixed typo. Renamed break_button to brake_button as suggested by Mike…
andresgongora May 12, 2016
80dd095
Fixed typo
andresgongora May 12, 2016
48edca1
Fixed typo
andresgongora May 12, 2016
426bfb0
Fixed linter errors: trailing whitespaces, use of tabs and lines long…
andresgongora May 12, 2016
fa195b2
Removed unwanted extra spaces pointed out by [tonybaltovski@github]
andresgongora May 13, 2016
157754c
Testing enable button optional
andresgongora Jun 10, 2016
db2f8cb
Fixed lint errors and added travis test for disabled enable_button
andresgongora Jun 10, 2016
2796d30
Changed button array not to be empty. Added a 0
andresgongora Jun 10, 2016
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54 changes: 38 additions & 16 deletions src/teleop_twist_joy.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,8 +46,9 @@ struct TeleopTwistJoy::Impl
ros::Subscriber joy_sub;
ros::Publisher cmd_vel_pub;

int enable_button;
int enable_turbo_button;
int enable_button; // Enable normal motion. Defaults to joystick button 0
int enable_turbo_button; // Enable sprint by using alternative gain. By default disabled (-1)
int break_button; // Send break no-motion command. By default disabled (-1)

std::map<std::string, int> axis_linear_map;
std::map<std::string, double> scale_linear_map;
Expand All @@ -74,6 +75,7 @@ TeleopTwistJoy::TeleopTwistJoy(ros::NodeHandle* nh, ros::NodeHandle* nh_param)

nh_param->param<int>("enable_button", pimpl_->enable_button, 0);
nh_param->param<int>("enable_turbo_button", pimpl_->enable_turbo_button, -1);
nh_param->param<int>("break_button", pimpl_->break_button, -1);

if (nh_param->getParam("axis_linear", pimpl_->axis_linear_map))
{
Expand Down Expand Up @@ -101,27 +103,44 @@ TeleopTwistJoy::TeleopTwistJoy(ros::NodeHandle* nh, ros::NodeHandle* nh_param)
nh_param->param<double>("scale_angular_turbo",
pimpl_->scale_angular_turbo_map["yaw"], pimpl_->scale_angular_map["yaw"]);
}

ROS_INFO_NAMED("TeleopTwistJoy", "Teleop enable button %i.", pimpl_->enable_button);
ROS_INFO_COND_NAMED(pimpl_->enable_turbo_button >= 0, "TeleopTwistJoy",
"Turbo on button %i.", pimpl_->enable_turbo_button);

ROS_INFO_COND_NAMED(pimpl_->enable_button >= 0,
"TeleopTwistJoy",
"Teleop enable button %i.",
pimpl_->enable_button);
ROS_INFO_COND_NAMED(pimpl_->enable_turbo_button >= 0,
"TeleopTwistJoy",
"Turbo on button %i.",
pimpl_->enable_turbo_button);
ROS_INFO_COND_NAMED(pimpl_->break_button >= 0,
"TeleopTwistJoy",
"Breaking on button %i.",
pimpl_->break_button);

for (std::map<std::string, int>::iterator it = pimpl_->axis_linear_map.begin();
it != pimpl_->axis_linear_map.end(); ++it)
{
ROS_INFO_NAMED("TeleopTwistJoy", "Linear axis %s on %i at scale %f.",
it->first.c_str(), it->second, pimpl_->scale_linear_map[it->first]);
ROS_INFO_COND_NAMED(pimpl_->enable_turbo_button >= 0, "TeleopTwistJoy",
"Turbo for linear axis %s is scale %f.", it->first.c_str(), pimpl_->scale_linear_turbo_map[it->first]);
ROS_INFO_COND_NAMED(pimpl_->enable_button >= 0,
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Extra space here and below.

"TeleopTwistJoy",
"Linear axis %s on %i at scale %f.",
it->first.c_str(), it->second, pimpl_->scale_linear_map[it->first]);
ROS_INFO_COND_NAMED(pimpl_->enable_turbo_button >= 0,
"TeleopTwistJoy",
"Turbo for linear axis %s is scale %f.",
it->first.c_str(), pimpl_->scale_linear_turbo_map[it->first]);
}

for (std::map<std::string, int>::iterator it = pimpl_->axis_angular_map.begin();
it != pimpl_->axis_angular_map.end(); ++it)
{
ROS_INFO_NAMED("TeleopTwistJoy", "Angular axis %s on %i at scale %f.",
it->first.c_str(), it->second, pimpl_->scale_angular_map[it->first]);
ROS_INFO_COND_NAMED(pimpl_->enable_turbo_button >= 0, "TeleopTwistJoy",
"Turbo for angular axis %s is scale %f.", it->first.c_str(), pimpl_->scale_angular_turbo_map[it->first]);
ROS_INFO_COND_NAMED(pimpl_->enable_button >= 0,
"TeleopTwistJoy",
"Angular axis %s on %i at scale %f.",
it->first.c_str(), it->second, pimpl_->scale_angular_map[it->first]);
ROS_INFO_COND_NAMED(pimpl_->enable_turbo_button >= 0,
"TeleopTwistJoy",
"Turbo for angular axis %s is scale %f.",
it->first.c_str(), pimpl_->scale_angular_turbo_map[it->first]);
}

pimpl_->sent_disable_msg = false;
Expand All @@ -132,7 +151,9 @@ void TeleopTwistJoy::Impl::joyCallback(const sensor_msgs::Joy::ConstPtr& joy_msg
// Initializes with zeros by default.
geometry_msgs::Twist cmd_vel_msg;

if (enable_turbo_button >= 0 && joy_msg->buttons[enable_turbo_button])
if (enable_turbo_button >= 0 && // turbo_button enabled AND
joy_msg->buttons[enable_turbo_button] && // turbo_button pressed AND
!joy_msg->buttons[break_button] ) // break_button not pressed
{
if (axis_linear_map.find("x") != axis_linear_map.end())
{
Expand Down Expand Up @@ -162,7 +183,8 @@ void TeleopTwistJoy::Impl::joyCallback(const sensor_msgs::Joy::ConstPtr& joy_msg
cmd_vel_pub.publish(cmd_vel_msg);
sent_disable_msg = false;
}
else if (joy_msg->buttons[enable_button])
else if ( (enable_button < 0 || joy_msg->buttons[enable_button]) && // (enable_button not enabled OR enable_button pressed ) AND
!joy_msg->buttons[break_button] ) // breaking_button not pressed
{
if (axis_linear_map.find("x") != axis_linear_map.end())
{
Expand Down