Program Listing for File JoystickDemo.hpp

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#pragma once

#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/joy.hpp>
#include <std_msgs/msg/empty.hpp>

#include <dbw_polaris_msgs/msg/brake_cmd.hpp>
#include <dbw_polaris_msgs/msg/gear_cmd.hpp>
#include <dbw_polaris_msgs/msg/steering_cmd.hpp>
#include <dbw_polaris_msgs/msg/throttle_cmd.hpp>

namespace dbw_polaris_joystick_demo {

typedef struct {
  rclcpp::Time stamp;
  float brake_joy;
  float throttle_joy;
  float steering_joy;
  bool steering_mult;
  int gear_cmd;
  bool steering_cal;
  bool joy_throttle_valid;
  bool joy_brake_valid;
} JoystickDataStruct;

class JoystickDemo : public rclcpp::Node {
public:
  JoystickDemo(const rclcpp::NodeOptions& options);

private:
  void recvJoy(const sensor_msgs::msg::Joy::ConstSharedPtr msg);
  void cmdCallback();

  // Topics
  rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr sub_joy_;
  rclcpp::Publisher<dbw_polaris_msgs::msg::BrakeCmd>::SharedPtr pub_brake_;
  rclcpp::Publisher<dbw_polaris_msgs::msg::ThrottleCmd>::SharedPtr pub_throttle_;
  rclcpp::Publisher<dbw_polaris_msgs::msg::SteeringCmd>::SharedPtr pub_steering_;
  rclcpp::Publisher<dbw_polaris_msgs::msg::GearCmd>::SharedPtr pub_gear_;
  rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr pub_enable_;
  rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr pub_disable_;

  // Parameters
  bool brake_;     // Send brake commands
  bool throttle_;  // Send throttle commands
  bool steer_;     // Send steering commands
  bool shift_;     // Send shift commands

  // Parameters
  float brake_gain_;     // Adjust brake value
  float throttle_gain_;  // Adjust throttle value

  // Parameters
  bool ignore_;  // Ignore driver overrides
  bool enable_;  // Use enable and disable buttons
  bool count_;   // Increment counter to enable watchdog
  bool strq_;    // Steering torque command (otherwise angle)
  float svel_;   // Steering command speed

  // Variables
  rclcpp::TimerBase::SharedPtr timer_;
  JoystickDataStruct data_;
  sensor_msgs::msg::Joy joy_;
  uint8_t counter_ = 0;
  float last_steering_filt_output_;

  enum {
    BTN_PARK = 3,
    BTN_REVERSE = 1,
    BTN_NEUTRAL = 2,
    BTN_DRIVE = 0,
    BTN_ENABLE = 5,
    BTN_DISABLE = 4,
    BTN_STEER_MULT_1 = 6,
    BTN_STEER_MULT_2 = 7,
    BTN_TRUNK_OPEN = 9,
    BTN_TRUNK_CLOSE = 10,
    BTN_COUNT_X = 11,
    BTN_COUNT_D = 12,
    AXIS_THROTTLE = 5,
    AXIS_BRAKE = 2,
    AXIS_STEER_1 = 0,
    AXIS_STEER_2 = 3,
    AXIS_TURN_SIG = 6,
    AXIS_DOOR_SELECT = 6,
    AXIS_DOOR_ACTION = 7,
    AXIS_COUNT_D = 6,
    AXIS_COUNT_X = 8,
  };
};

} // namespace dbw_polaris_joystick_demo