vulcano_arm_pad: added pad controller for arms

vulcano_arm_pad/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(vulcano_arm_pad)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  geometry_msgs
+  nav_msgs
+  robotnik_msgs
+  roscpp
+  sensor_msgs
+  diagnostic_updater
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Generate services in the 'srv' folder
+#add_service_files(DIRECTORY srv 
+#   FILES
+#    enable_disable_pad.srv
+#)
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+#generate_messages(
+#   DEPENDENCIES
+#   nav_msgs robotnik_msgs sensor_msgs 
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES 
+  CATKIN_DEPENDS 
+    nav_msgs 
+    robotnik_msgs
+    roscpp 
+    sensor_msgs 
+    geometry_msgs 
+    message_runtime
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  include 
+  ${catkin_INCLUDE_DIRS} 
+)
+
+# For debugging via Qt Creator
+SET(CMAKE_BUILD_TYPE Debug)
+
+## Declare a cpp executable
+add_executable(vulcano_arm_pad src/vulcano_arm_pad.cpp)
+
+add_dependencies(vulcano_arm_pad robotnik_msgs_generate_messages_cpp)
+
+target_link_libraries(vulcano_arm_pad
+   ${catkin_LIBRARIES}
+ )
+

vulcano_arm_pad/launch/left_arm_ps3.yaml

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+num_of_buttons: 17
+axis_angular: 1
+scale_angular: 0.5
+
+button_dead_man: 8
+
+button_next_joint: 4
+button_previous_joint: 6
+button_speed_up: 12
+button_speed_down: 14
+
+arm_prefix: left_arm_

vulcano_arm_pad/launch/right_arm_ps3.yaml

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+num_of_buttons: 17
+axis_angular: 1
+scale_angular: 0.5
+
+button_dead_man: 9
+
+button_next_joint: 4
+button_previous_joint: 6
+button_speed_up: 12
+button_speed_down: 14
+
+arm_prefix: right_arm_

vulcano_arm_pad/launch/vulcano_arms_pad.launch

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+<?xml version="1.0"?>
+<launch>
+
+  <group ns="vulcano">
+  <!-- joy node -->
+  <node name="joy_arms" pkg="joy" type="joy_node" respawn="true">
+    <param name="dev" type="string" value="/dev/input/js0" />
+    <param name="deadzone" value="0.12" />
+    <param name="autorepeat_rate" value="10.0" type="double" />
+  </node>
+
+  <node name="vulcano_right_arm_pad" pkg="vulcano_arm_pad" type="vulcano_arm_pad" output="screen">       
+    <rosparam command="load" file="$(find vulcano_arm_pad)/launch/right_arm_ps3.yaml" />
+  </node>
+
+  <node name="vulcano_left_arm_pad" pkg="vulcano_arm_pad" type="vulcano_arm_pad" output="screen">       
+    <rosparam command="load" file="$(find vulcano_arm_pad)/launch/left_arm_ps3.yaml" />
+  </node>
+  </group>
+
+</launch>
+
+

vulcano_arm_pad/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>vulcano_arm_pad</name>
+  <version>0.0.0</version>
+  <description>The vulcano_arm_pad package</description>
+
+  <maintainer email="[email protected]">Robotnik</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>robotnik_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>robotnik_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>diagnostic_updater</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+    <!-- Other tools can request additional information be placed here -->
+  </export>
+</package>