teleop_tool.cc File Reference

#include <gflags/gflags.h>
#include <gflags/gflags_completions.h>
#include <ros/ros.h>
#include <tf2_ros/transform_listener.h>
#include <ff_msgs/AckCompletedStatus.h>
#include <ff_msgs/AckStamped.h>
#include <ff_msgs/AckStatus.h>
#include <ff_msgs/AgentStateStamped.h>
#include <ff_msgs/CommandArg.h>
#include <ff_msgs/CommandConstants.h>
#include <ff_msgs/CommandStamped.h>
#include <ff_msgs/DockAction.h>
#include <ff_msgs/DockState.h>
#include <ff_msgs/FaultState.h>
#include <ff_msgs/MotionAction.h>
#include <ff_msgs/PerchState.h>
#include <ff_util/ff_flight.h>
#include <ff_common/ff_names.h>

Include dependency graph for teleop_tool.cc:

Functions
	DEFINE_bool (dock, false, "Send dock command")
	DEFINE_bool (get_face_forward, false, "Get face forward mode")
	DEFINE_bool (get_faults, false, "Get current faults")
	DEFINE_bool (get_op_limits, false, "Get operating limits")
	DEFINE_bool (get_planner, false, "Get current planner")
	DEFINE_bool (get_pose, false, "Get current robot position")
	DEFINE_bool (get_state, false, "Get current robot state")
	DEFINE_bool (move, false, "Send move command")
	DEFINE_bool (set_op_limits, false, "Send set operating limits")
	DEFINE_bool (stop, false, "Send stop command")
	DEFINE_bool (undock, false, "Send undock command")
	DEFINE_bool (relative, false, "Position is relative to current point")
	DEFINE_bool (reset_bias, false, "Send initialize bias command")
	DEFINE_bool (reset_ekf, false, "Send reset ekf command")
	DEFINE_bool (remote, false, "Whether target command is remote robot")
	DEFINE_double (accel, -1.0, "Desired acceleration")
	DEFINE_double (alpha, -1.0, "Desired angular acceleration")
	DEFINE_double (omega, -1.0, "Desired angular velocity")
	DEFINE_double (vel, -1.0, "Desired velocity")
	DEFINE_double (collision_distance, -1.0, "Desired collision distance")
	DEFINE_int32 (berth, 1, "Berth to dock in")
	DEFINE_string (att, "", "Desired attitude in angle-axis format 'angle X Y Z'")
	DEFINE_string (set_check_zones, "", "Enable keepout zone checking")
	DEFINE_string (set_face_forward, "", "Plan in face-forward mode, on or off")
	DEFINE_string (mode, "", "Flight mode")
	DEFINE_string (ns, "", "Robot namespace")
	DEFINE_string (set_planner, "", "Path planning algorithm")
	DEFINE_string (pos, "", "Desired position in cartesian format 'X Y Z'")
bool	Finished ()
void	AgentStateCallback (ff_msgs::AgentStateStampedConstPtr const &state)
void	FaultStateCallback (ff_msgs::FaultStateConstPtr const &state)
bool	SendMobilityCommand ()
bool	SendResetBias ()
bool	SendResetEkf ()
bool	SendSetCheckZones ()
bool	SendSetFaceForward ()
bool	SendSetOpLimits ()
bool	SendSetPlanner ()
bool	SendNextCommand ()
void	AckCallback (ff_msgs::AckStampedConstPtr const &ack)
void	MoveFeedbackCallback (ff_msgs::MotionActionFeedbackConstPtr const &fb)
void	DockFeedbackCallback (ff_msgs::DockActionFeedbackConstPtr const &fb)
int	main (int argc, char **argv)

Variables
bool	get_face_forward
bool	get_op_limits
bool	get_planner
bool	get_state
bool	get_faults
bool	reset_bias
bool	reset_ekf
bool	set_check_zones
bool	set_face_forward
bool	set_planner
bool	set_op_limits
bool	send_mob_command
bool	mob_command_finished
geometry_msgs::TransformStamped	tfs
ros::Publisher	cmd_pub
uint8_t	modeMove = 0
uint8_t	modeGetInfo = 0

Function Documentation

AckCallback()

void AckCallback

(

ff_msgs::AckStampedConstPtr const &

ack

)

AgentStateCallback()

void AgentStateCallback

(

ff_msgs::AgentStateStampedConstPtr const &

state

)

DEFINE_bool() [1/15]

DEFINE_bool	(	dock	,
		false	,
		"Send dock command"
	)

DEFINE_bool() [2/15]

DEFINE_bool	(	get_face_forward	,
		false	,
		"Get face forward mode"
	)

DEFINE_bool() [3/15]

DEFINE_bool	(	get_faults	,
		false	,
		"Get current faults"
	)

DEFINE_bool() [4/15]

DEFINE_bool	(	get_op_limits	,
		false	,
		"Get operating limits"
	)

DEFINE_bool() [5/15]

DEFINE_bool	(	get_planner	,
		false	,
		"Get current planner"
	)

DEFINE_bool() [6/15]

DEFINE_bool	(	get_pose	,
		false	,
		"Get current robot position"
	)

DEFINE_bool() [7/15]

DEFINE_bool	(	get_state	,
		false	,
		"Get current robot state"
	)

DEFINE_bool() [8/15]

DEFINE_bool	(	move	,
		false	,
		"Send move command"
	)

DEFINE_bool() [9/15]

DEFINE_bool	(	relative	,
		false	,
		"Position is relative to current point"
	)

DEFINE_bool() [10/15]

DEFINE_bool	(	remote	,
		false	,
		"Whether target command is remote robot"
	)

DEFINE_bool() [11/15]

DEFINE_bool	(	reset_bias	,
		false	,
		"Send initialize bias command"
	)

DEFINE_bool() [12/15]

DEFINE_bool	(	reset_ekf	,
		false	,
		"Send reset ekf command"
	)

DEFINE_bool() [13/15]

DEFINE_bool	(	set_op_limits	,
		false	,
		"Send set operating limits"
	)

DEFINE_bool() [14/15]

DEFINE_bool	(	stop	,
		false	,
		"Send stop command"
	)

DEFINE_bool() [15/15]

DEFINE_bool	(	undock	,
		false	,
		"Send undock command"
	)

DEFINE_double() [1/5]

DEFINE_double	(	accel	,
		-1.	0,
		"Desired acceleration"
	)

DEFINE_double() [2/5]

DEFINE_double	(	alpha	,
		-1.	0,
		"Desired angular acceleration"
	)

DEFINE_double() [3/5]

DEFINE_double	(	collision_distance	,
		-1.	0,
		"Desired collision distance"
	)

DEFINE_double() [4/5]

DEFINE_double	(	omega	,
		-1.	0,
		"Desired angular velocity"
	)

DEFINE_double() [5/5]

DEFINE_double	(	vel	,
		-1.	0,
		"Desired velocity"
	)

DEFINE_int32()

DEFINE_int32	(	berth	,
		1	,
		"Berth to dock in"
	)

DEFINE_string() [1/7]

DEFINE_string	(	att	,
		""	,
		"Desired attitude in angle-axis format 'angle X Y Z'"
	)

DEFINE_string() [2/7]

DEFINE_string	(	mode	,
		""	,
		"Flight mode"
	)

DEFINE_string() [3/7]

DEFINE_string	(	ns	,
		""	,
		"Robot namespace"
	)

DEFINE_string() [4/7]

DEFINE_string	(	pos	,
		""	,
		"Desired position in cartesian format 'X Y Z'"
	)

DEFINE_string() [5/7]

DEFINE_string	(	set_check_zones	,
		""	,
		"Enable keepout zone checking"
	)

DEFINE_string() [6/7]

DEFINE_string	(	set_face_forward	,
		""	,
		"Plan in face-forward	mode,
		on or off"
	)

DEFINE_string() [7/7]

DEFINE_string	(	set_planner	,
		""	,
		"Path planning algorithm"
	)

DockFeedbackCallback()

void DockFeedbackCallback

(

ff_msgs::DockActionFeedbackConstPtr const &

fb

)

FaultStateCallback()

void FaultStateCallback

(

ff_msgs::FaultStateConstPtr const &

state

)

Finished()

bool Finished

(

)

main()

int main	(	int	argc,
		char **	argv
	)

MoveFeedbackCallback()

void MoveFeedbackCallback

(

ff_msgs::MotionActionFeedbackConstPtr const &

fb

)

SendMobilityCommand()

bool SendMobilityCommand

(

)

SendNextCommand()

bool SendNextCommand

(

)

SendResetBias()

bool SendResetBias

(

)

SendResetEkf()

bool SendResetEkf

(

)

SendSetCheckZones()

bool SendSetCheckZones

(

)

SendSetFaceForward()

bool SendSetFaceForward

(

)

SendSetOpLimits()

bool SendSetOpLimits

(

)

SendSetPlanner()

bool SendSetPlanner

(

)

Variable Documentation

cmd_pub

ros::Publisher cmd_pub

get_face_forward

bool get_face_forward

get_faults

bool get_faults

get_op_limits

bool get_op_limits

get_planner

bool get_planner

get_state

bool get_state

mob_command_finished

bool mob_command_finished

modeGetInfo

uint8_t modeGetInfo = 0

modeMove

uint8_t modeMove = 0

reset_bias

bool reset_bias

reset_ekf

bool reset_ekf

send_mob_command

bool send_mob_command

set_check_zones

bool set_check_zones

set_face_forward

bool set_face_forward

set_op_limits

bool set_op_limits

set_planner

bool set_planner

tfs

geometry_msgs::TransformStamped tfs