strands-project/scitos_apps — pull request #7 by cdondrup (2013-07-19 16:13:55+00:00)
Title: Teleop restructured

This fixes issue #4 and introduces some new features.

Bugfix:
* The controller does not send data any more if the dead-man-switch is not pressed.

New features:
* Everything relies on the dead-man-switch now. Except the emergency stop, motor reset, freerun and action buttons.
* The action button topic just sends data when there is a change in at least one of the values.
* The head and eye control is now one node and not two any more
* There is a new node called teleop_base which is meant to translate the joystick msg to velocities.
* The rumbelpad_control now just grabs the data from the joy node, checks if the pad is running in the right node, publishes the action button data, republishes the joy message on a new topic if the dead-man-switch is pressed and takes care of the base functionalities like emergency stop and motor reset
* There are 4 launch files now:
* teleop_joystick_core.launch: this launches the rumbelpad_control as teleop_joystick. This node enables you to use the two other teleop nodes. If you just run this launch file you can use the Joystick as an emergency stop and motor reset tool. Additionally the action buttons are published.
* teleop_joystick_just_base.launch/teleop_joystick_just_head.launch: starting the teleop_joystick_core.launch as well. As the name says it lets you just control the head or the base.
* teleop_joystick.launch: This launches all functionalities
* If the Y button is pressed when the head control is running, the head will be reversed. This is meant to toggle between looking backwards and forwards. If you press the Y button, the head will turn the next time you press the dead-man-switch.