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fix e-stop handling #21

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merged 1 commit into from
Jul 25, 2024
Merged

fix e-stop handling #21

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1 change: 1 addition & 0 deletions joy2twist/include/joy2twist/joy2twist_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@ class Joy2TwistNode : public rclcpp::Node
void trigger_service_cb(
const rclcpp::Client<SrvTrigger>::SharedFuture & future,
const std::string & service_name) const;
void handle_e_stop(const std::shared_ptr<MsgJoy> joy_msg);

std::map<std::string, float> linear_velocity_factors_;
std::map<std::string, float> angular_velocity_factors_;
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34 changes: 23 additions & 11 deletions joy2twist/src/joy2twist_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,17 +84,7 @@ void Joy2TwistNode::joy_cb(const MsgJoy::SharedPtr joy_msg)
{
MsgTwist twist_msg;

if (e_stop_present_) {
if (joy_msg->buttons.at(button_index_.e_stop_trigger) && !e_stop_state_) {
// Stop the robot before trying to call the e-stop trigger service
twist_pub_->publish(twist_msg);
call_trigger_service(e_stop_trigger_client_);
} else if (
joy_msg->buttons.at(button_index_.enable_e_stop_reset) &&
joy_msg->buttons.at(button_index_.e_stop_reset) && e_stop_state_) {
call_trigger_service(e_stop_reset_client_);
}
}
handle_e_stop(joy_msg);

if (joy_msg->buttons.at(button_index_.dead_man_switch)) {
driving_mode_ = true;
Expand Down Expand Up @@ -159,4 +149,26 @@ void Joy2TwistNode::trigger_service_cb(
RCLCPP_INFO(this->get_logger(), "Successfully called %s service", service_name.c_str());
}

void Joy2TwistNode::handle_e_stop(const std::shared_ptr<MsgJoy> joy_msg)
{
if (!e_stop_present_) {
return;
}

if (joy_msg->buttons.at(button_index_.e_stop_trigger)) {
if (!e_stop_state_) {
// Stop the robot before trying to call the e-stop trigger service
twist_pub_->publish(MsgTwist());
call_trigger_service(e_stop_trigger_client_);
}
return;
}

if (
joy_msg->buttons.at(button_index_.enable_e_stop_reset) &&
joy_msg->buttons.at(button_index_.e_stop_reset) && e_stop_state_) {
call_trigger_service(e_stop_reset_client_);
}
}

} // namespace joy2twist
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