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teleop_panel.h
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/*
* Copyright (c) 2014, Commonplace Robotics GmbH
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef TELEOP_PANEL_H
#define TELEOP_PANEL_H
#include <ros/ros.h>
#include <rviz/panel.h>
#include <sensor_msgs/JointState.h>
#include <std_msgs/String.h>
class QLabel;
class QLineEdit;
class QPushButton;
namespace cpr_rviz_plugin
{
class TeleopPanel: public rviz::Panel
{
Q_OBJECT
public:
TeleopPanel( QWidget* parent = 0 );
public Q_SLOTS:
void setJogVel();
void initGUI();
void initROS();
protected Q_SLOTS:
void sendVel();
void btPressedConnect();
void btPressedReset();
void btPressedEnable();
void btPressedGripperOpen();
void btPressedGripperClose();
void btPressedOverrideMinus();
void btPressedOverridePlus();
void sendCommand();
protected:
bool flagMover4; // which robot to operate?
bool flagMover6;
int override_value;
QTimer* output_timer;
QLabel* labelOverride;
QLabel* labelStatus;
QLabel* labelJ0;
QLabel* labelJ1;
QLabel* labelJ2;
QLabel* labelJ3;
QLabel* labelJ4;
QLabel* labelJ5;
QPushButton* buttonConnect;
QPushButton* buttonReset;
QPushButton* buttonEnable;
QPushButton* buttonOverridePlus;
QPushButton* buttonOverrideMinus;
QPushButton* buttonGripperOpen;
QPushButton* buttonGripperClose;
QPushButton* buttonJog0Plus;
QPushButton* buttonJog0Minus;
QPushButton* buttonJog1Plus;
QPushButton* buttonJog1Minus;
QPushButton* buttonJog2Plus;
QPushButton* buttonJog2Minus;
QPushButton* buttonJog3Plus;
QPushButton* buttonJog3Minus;
QPushButton* buttonJog4Plus;
QPushButton* buttonJog4Minus;
QPushButton* buttonJog5Plus;
QPushButton* buttonJog5Minus;
// The ROS publisher/subscriber
ros::Publisher velocity_publisher_;
ros::Publisher commands_publisher_;
sensor_msgs::JointState velMsg;
ros::Subscriber subErrorState_;
ros::Subscriber subJointState_;
void errorStateCallback(const std_msgs::String::ConstPtr& msg);
void jointStateCallback(const sensor_msgs::JointState::ConstPtr& msg);
// The ROS node handle.
ros::NodeHandle nh_;
float jointVelocities[6];
QString lastError;
};
} // end namespace rviz_plugin_tutorials
#endif // TELEOP_PANEL_H