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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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2 changes: 2 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -53,4 +53,6 @@ if (CATKIN_ENABLE_TESTING)
add_rostest(test/only_turbo_joy.test)
add_rostest(test/turbo_angular_enable_joy.test)
add_rostest(test/turbo_angular_enable_joy_with_rosparam_map.test)
add_rostest(test/enable_button_disabled_joy.test)
add_rostest(test/enable_button_disabled_turbo_enable_joy.test)
endif()
9 changes: 9 additions & 0 deletions config/ps3-noenable.config.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
axis_linear: 1
scale_linear: 0.7
scale_linear_turbo: 1.5

axis_angular: 0
scale_angular: 0.4

enable_button: -1 # No need to press the enable_button
enable_turbo_button: 10 # L1 shoulder button
47 changes: 30 additions & 17 deletions src/teleop_twist_joy.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,8 +46,8 @@ 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)

std::map<std::string, int> axis_linear_map;
std::map<std::string, double> scale_linear_map;
Expand Down Expand Up @@ -102,26 +102,39 @@ TeleopTwistJoy::TeleopTwistJoy(ros::NodeHandle* nh, ros::NodeHandle* nh_param)
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);

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,
"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 +145,7 @@ 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 && joy_msg->buttons[enable_turbo_button]) // Turbo button enabled AND pressed
{
if (axis_linear_map.find("x") != axis_linear_map.end())
{
Expand Down Expand Up @@ -162,7 +175,7 @@ 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 (joy_msg->buttons[enable_button] || enable_button < 0) // enable_button pressed OR enable_button disabled
{
if (axis_linear_map.find("x") != axis_linear_map.end())
{
Expand Down Expand Up @@ -194,8 +207,8 @@ void TeleopTwistJoy::Impl::joyCallback(const sensor_msgs::Joy::ConstPtr& joy_msg
}
else
{
// When enable button is released, immediately send a single no-motion command
// in order to stop the robot.
// When enable_button is released, immediately send a single no-motion command
// in order to stop the robot, unless enable_button is disabled (-1)
if (!sent_disable_msg)
{
cmd_vel_pub.publish(cmd_vel_msg);
Expand Down
22 changes: 22 additions & 0 deletions test/enable_button_disabled_joy.test
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Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
<launch>
<node pkg="teleop_twist_joy" name="teleop_twist_joy" type="teleop_node">
<rosparam>
axis_linear: 1
axis_angular: 0
scale_linear: 2.0
scale_angular: 3.0
enable_button: -1
</rosparam>
</node>

<test test-name="no_enable_joy" pkg="teleop_twist_joy" type="test_joy_twist.py">
<rosparam>
publish_joy:
axes: [ 0.3, 0.4 ]
buttons: [ 0 ]
expect_cmd_vel:
linear: { x: 0.8, y: 0, z: 0 }
angular: { x: 0, y: 0, z: 0.9 }
</rosparam>
</test>
</launch>
24 changes: 24 additions & 0 deletions test/enable_button_disabled_turbo_enable_joy.test
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Original file line number Diff line number Diff line change
@@ -0,0 +1,24 @@
<launch>
<node pkg="teleop_twist_joy" name="teleop_twist_joy" type="teleop_node">
<rosparam>
axis_linear: 1
axis_angular: 0
scale_linear: 1.0
scale_linear_turbo: 2.0
scale_angular: 3.0
enable_button: -1
enable_turbo_button: 1
</rosparam>
</node>

<test test-name="turbo_enable_joy" pkg="teleop_twist_joy" type="test_joy_twist.py">
<rosparam>
publish_joy:
axes: [ 0.3, 0.4 ]
buttons: [ 0, 1 ]
expect_cmd_vel:
linear: { x: 0.8, y: 0, z: 0 }
angular: { x: 0, y: 0, z: 0.9 }
</rosparam>
</test>
</launch>