Class JoystickController

Defined in File joystick_controller.hpp

Inheritance Relationships

Base Type

public controller_interface::ControllerInterface

Class Documentation

class JoystickController : public controller_interface::ControllerInterface 

Public Functions

JOYSTICK_CONTROLLER_PUBLIC JoystickController()

virtual JOYSTICK_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override

virtual JOYSTICK_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override

virtual JOYSTICK_CONTROLLER_PUBLIC controller_interface::return_type update (const rclcpp::Time &time, const rclcpp::Duration &period) override

virtual JOYSTICK_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_init () override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_cleanup (const rclcpp_lifecycle::State &previous_state) override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_error (const rclcpp_lifecycle::State &previous_state) override

JOYSTICK_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_shutdown (const rclcpp_lifecycle::State &previous_state) override

Protected Functions

void joint_states_callback(const sensor_msgs::msg::JointState::SharedPtr msg)

Protected Attributes

std::vector<std::string> sensorxel_joy_names_

std::vector<std::string> state_interface_types_ = {"JOYSTICK X VALUE", "JOYSTICK Y VALUE"}

size_t n_sensorxel_joys_ = 0

std::vector<std::vector<double>> sensorxel_joy_values_

std::vector<std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface>>> joint_state_interface_

sensor_msgs::msg::JointState current_joint_states_

bool was_active_ = false

std::vector<double> last_active_positions_

bool has_joint_states_ = false

rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr sensorxel_joy_publisher_

rclcpp::Publisher<trajectory_msgs::msg::JointTrajectory>::SharedPtr joint_trajectory_publisher_

rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_states_subscriber_

std::shared_ptr<ParamListener> param_listener_

Params params_