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feature/free_drive_mode #344

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feature/free_drive_mode #344

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b9aa2c4
add free drive mode
schmid-jn Jul 31, 2024
409b1e5
bug fix
schmid-jn Aug 6, 2024
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42 changes: 42 additions & 0 deletions cob_teleop/ros/src/cob_teleop.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
#include <sensor_msgs/JoyFeedbackArray.h>
#include <std_msgs/Float64MultiArray.h>
#include <std_msgs/ColorRGBA.h>
#include <std_msgs/Bool.h>
#include <std_srvs/Trigger.h>
#include <XmlRpcValue.h>

Expand Down Expand Up @@ -70,6 +71,12 @@ class CobTeleop
int right_left_button_;
//mode 4: Twist controller

// free drive
int free_drive_button_;
ros::Publisher free_drive_publisher_;
std::string free_drive_topic_name_;
bool free_drive_active_;

//common
int deadman_button_;
int safety_button_;
Expand Down Expand Up @@ -123,6 +130,7 @@ class CobTeleop
void getConfigurationFromParameters();
void init();
void updateBase();
void updateArm();
void say(std::string text, bool blocking);
void setLight(int mode);
void joy_cb(const sensor_msgs::Joy::ConstPtr &joy_msg);
Expand Down Expand Up @@ -262,6 +270,11 @@ void CobTeleop::getConfigurationFromParameters()
vel_old_[i]=0;
vel_req_[i]=0;
}

n_.param<int>("free_drive_button", free_drive_button_, 2); // x button
n_.param<std::string>("free_drive_topic_name", free_drive_topic_name_, "/arm/driver/free_drive_mode");
free_drive_publisher_ = n_.advertise<std_msgs::Bool>(free_drive_topic_name_, 1);
free_drive_active_ = false;
}

sensor_msgs::JoyFeedbackArray CobTeleop::switch_mode()
Expand Down Expand Up @@ -369,6 +382,20 @@ void CobTeleop::updateBase()
}
}

void CobTeleop::updateArm()
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{
if (joy_active_)
{
if (free_drive_active_)
{
std_msgs::Bool free_drive_msg;
free_drive_msg.data = true;
free_drive_publisher_.publish(free_drive_msg);
setLight(1);
}
}
}

void CobTeleop::say(std::string text, bool blocking)
{
if(enable_sound_)
Expand Down Expand Up @@ -428,6 +455,20 @@ void CobTeleop::joy_cb(const sensor_msgs::Joy::ConstPtr &joy_msg)
switch_mode();
}

if (free_drive_button_ >= 0 && free_drive_button_ < (int)joy_msg->buttons.size())
{
if (free_drive_active_ && joy_msg->buttons[free_drive_button_] == 0)
{
ROS_INFO("Free drive mode deactivated");
free_drive_active_ = false;
}
else if (!free_drive_active_ && joy_msg->buttons[free_drive_button_] == 1)
{
ROS_INFO("Free drive mode activated");
free_drive_active_ = true;
}
}

if(safety_button_>=0 && safety_button_<(int)joy_msg->buttons.size() && joy_msg->buttons[safety_button_]==1)
{
safe_mode_ = false;
Expand Down Expand Up @@ -826,6 +867,7 @@ int main(int argc, char** argv)
while(cob_teleop.n_.ok())
{
cob_teleop.updateBase();
cob_teleop.updateArm();
ros::spinOnce();
loop_rate.sleep();
}
Expand Down