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use R+ZR for estop gentle #84

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use R+ZR for estop gentle #84

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5652baa
use R+ZR for estop gentle
knorth55 Nov 10, 2022
86bcd26
fix typo
knorth55 Nov 16, 2022
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4 changes: 3 additions & 1 deletion jsk_robot_common/jsk_robot_startup/config/dualsense_joystick_teleop.yaml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
button_estop_hard: -1
button_estop_gentle: 5
button_estop_gentle:
- 5
- 7
button_power_off: 12
button_power_on: 13
button_self_right: 0
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61 changes: 44 additions & 17 deletions jsk_robot_common/jsk_robot_startup/src/quadruped_joystick_teleop.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,22 @@ class TeleopManager
public:
void init(ros::NodeHandle& nh)
{
ros::NodeHandle private_nh("~");
ros::param::param<int>("~button_estop_hard", button_estop_hard_, -1);
ros::param::param<int>("~button_estop_gentle", button_estop_gentle_, -1);

bool is_param_get = ros::param::param<int>(
"~button_estop_gentle", button_estop_gentle_, -1);
if (is_param_get)
{
button_estop_gentle_list_.push_back(button_estop_gentle_);
}
else
{
std::vector<int> initial_vec (1, -1);
bool param_get = ros::param::param<std::vector<int>>(
"~button_estop_gentle", button_estop_gentle_list_, initial_vec);
}

ros::param::param<int>("~button_power_off", button_power_off_, -1);
ros::param::param<int>("~button_power_on", button_power_on_, -1);
ros::param::param<int>("~button_self_right", button_self_right_, -1);
Expand Down Expand Up @@ -106,28 +120,40 @@ class TeleopManager
}

// estop_gentle
if ( button_estop_gentle_ >= 0
and button_estop_gentle_ < msg->buttons.size()
and button_estop_gentle_ < num_buttons_ ) {
if ( msg->buttons[button_estop_gentle_] == 1 ) {
if ( not pressed_[button_estop_gentle_] ) {
this->say("estop gentle calling");
if ( client_estop_gentle_.call(srv) && srv.response.success ) {
ROS_INFO_STREAM("Service " << client_estop_gentle_.getService() << " succeeded.");
} else {
ROS_ERROR_STREAM("Service " << client_estop_gentle_.getService() << " failed. (" << srv.response.message << ")");
int estop_gentle_cnt = 0;
int estop_gentle_toggle_cnt = 0;
for (int i=0; i < button_estop_gentle_list_.size(); i++)
{
int button_estop_gentle = button_estop_gentle_list_[i];
if ( button_estop_gentle >= 0
and button_estop_gentle < msg->buttons.size()
and button_estop_gentle < num_buttons_ ) {
if ( msg->buttons[button_estop_gentle] == 1 ) {
estop_gentle_cnt += 1;
if ( !pressed_[button_estop_gentle] )
{
estop_gentle_toggle_cnt += 1;
}
pressed_[button_estop_gentle_] = true;
pressed_[button_estop_gentle] = true;
} else {
pressed_[button_estop_gentle] = false;
}
}
else
{
ROS_DEBUG_STREAM("Button " << client_estop_gentle_.getService() << " is disabled.");
}
}
if ( estop_gentle_cnt == button_estop_gentle_list_.size() && estop_gentle_toggle_cnt > 0) {
this->say("E stop gentle calling");
if ( client_estop_gentle_.call(srv) && srv.response.success ) {
ROS_INFO_STREAM("Service " << client_estop_gentle_.getService() << " succeeded.");
} else {
if ( pressed_[button_estop_gentle_] ) {
pressed_[button_estop_gentle_] = false;
}
ROS_ERROR_STREAM("Service " << client_estop_gentle_.getService() << " failed. (" << srv.response.message << ")");
}
} else {
ROS_DEBUG_STREAM("Button " << client_estop_gentle_.getService() << " is disabled.");
}


// power_off
if ( button_power_off_ >= 0
and button_power_off_ < msg->buttons.size()
Expand Down Expand Up @@ -412,6 +438,7 @@ class TeleopManager
private:
int button_estop_hard_;
int button_estop_gentle_;
std::vector<int> button_estop_gentle_list_;
int button_power_off_;
int button_power_on_;
int button_self_right_;
Expand Down