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Add inactivity timer: if no activity after timeout, zero twist #25

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Add inactivity timer: if no activity after timeout, zero twist #25

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46 changes: 46 additions & 0 deletions src/teleop_twist_joy.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,12 @@ struct TeleopTwistJoy::Impl
std::map< std::string, std::map<std::string, double> > scale_angular_map;

bool sent_disable_msg;

double inactivity_timeout;
void restart_inactivity_timer(void);
void stop_inactivity_timer(void);
ros::Timer timer;
void inactivityTimerCallback(const ros::TimerEvent& e);
};

/**
Expand Down Expand Up @@ -122,6 +128,15 @@ TeleopTwistJoy::TeleopTwistJoy(ros::NodeHandle* nh, ros::NodeHandle* nh_param)
}

pimpl_->sent_disable_msg = false;

// if the inactivity_timeout is <= 0, it is disabled
nh_param->param<double>("inactivity_timeout", pimpl_->inactivity_timeout, -1.0);
// if the inactivity_timout is enabled, create a one-shot timer that is stopped
if (pimpl_->inactivity_timeout > 0.0)
{
pimpl_->timer = nh->createTimer(ros::Duration(pimpl_->inactivity_timeout),
&TeleopTwistJoy::Impl::inactivityTimerCallback, pimpl_, true, false);
}
}

double getVal(const sensor_msgs::Joy::ConstPtr& joy_msg, const std::map<std::string, int>& axis_map,
Expand Down Expand Up @@ -152,6 +167,7 @@ void TeleopTwistJoy::Impl::sendCmdVelMsg(const sensor_msgs::Joy::ConstPtr& joy_m

cmd_vel_pub.publish(cmd_vel_msg);
sent_disable_msg = false;
restart_inactivity_timer();
}

void TeleopTwistJoy::Impl::joyCallback(const sensor_msgs::Joy::ConstPtr& joy_msg)
Expand All @@ -177,8 +193,38 @@ void TeleopTwistJoy::Impl::joyCallback(const sensor_msgs::Joy::ConstPtr& joy_msg
geometry_msgs::Twist cmd_vel_msg;
cmd_vel_pub.publish(cmd_vel_msg);
sent_disable_msg = true;
stop_inactivity_timer();
}
}
}

void TeleopTwistJoy::Impl::restart_inactivity_timer(void)
{
if (inactivity_timeout > 0.0)
{
timer.stop();
timer.setPeriod(ros::Duration(inactivity_timeout));
timer.start();
}
}

void TeleopTwistJoy::Impl::stop_inactivity_timer(void)
{
if (inactivity_timeout > 0.0)
{
timer.stop();
}
}

void TeleopTwistJoy::Impl::inactivityTimerCallback(const ros::TimerEvent& e)
{
if (!sent_disable_msg)
{
geometry_msgs::Twist cmd_vel_msg;
ROS_INFO_NAMED("TeleopTwistJoy", "Joystick timed out, stopping motion");
cmd_vel_pub.publish(cmd_vel_msg);
sent_disable_msg = true;
}
}

} // namespace teleop_twist_joy