Publish teleop stokes to a user selected topic, or to '/cmd_vel' if no topic is selected. Buttons, the keyboard or sliders can be used to move a vehicle in the world. More...

#include <Teleop.hh>

Public Slots
void	OnKeySwitch (bool _checked)
	Callback in Qt thread when the keyboard is enabled or disabled. More...

void	OnTeleopTwist (double _forwardVel, double _verticalVel, double _angVel)
	Publish the twist message to the selected command velocity topic. More...

void	SetMaxForwardVel (double _velocity)
	Callback in Qt thread when the forward velocity changes. More...

void	SetMaxVerticalVel (double _velocity)
	Callback in Qt thread when the vertical velocity changes. More...

void	SetMaxYawVel (double _velocity)
	Callback in Qt thread when the yaw velocity changes. More...

void	SetTopic (const QString &_topic)
	Callback in Qt thread when the topic changes. More...

Signals
void	MaxForwardVelChanged ()
	Notify that forward velocity has changed. More...

void	MaxVerticalVelChanged ()
	Notify that vertical velocity has changed. More...

void	MaxYawVelChanged ()
	Notify that yaw velocity has changed. More...

void	TopicChanged ()
	Notify that topic has changed. More...

Public Member Functions
	Teleop ()
	Constructor. More...

virtual	~Teleop ()
	Destructor. More...

virtual void	LoadConfig (const tinyxml2::XMLElement *) override
	Load the plugin with a configuration file. Override this on custom plugins to handle custom configurations. More...

Q_INVOKABLE double	MaxForwardVel () const
	Get the forward velocity. More...

Q_INVOKABLE double	MaxVerticalVel () const
	Get the vertical velocity. More...

Q_INVOKABLE double	MaxYawVel () const
	Get the yaw velocity. More...

void	SetKeyScale ()
	Sets the movement scale when the keyboard is used. More...

Q_INVOKABLE QString	Topic () const
	Get the topic as a string, for example '/echo'. More...

Public Member Functions inherited from Plugin
	Plugin ()
	Constructor. More...

virtual	~Plugin ()
	Destructor. More...

QQuickItem *	CardItem () const
	Get the card item which contains this plugin. The item is generated the first time this function is run. More...

virtual std::string	ConfigStr ()
	Get the configuration XML as a string. More...

QQmlContext *	Context () const
	Get the QML context where the plugin was created. More...

bool	DeleteLaterRequested () const
	Get the value of the the `delete_later` element from the configuration file, which defaults to false. More...

void	Load (const tinyxml2::XMLElement *_pluginElem)
	Load the plugin with a configuration file. This loads the default parameters and then calls LoadConfig(), which should be overridden to load custom parameters. More...

QQuickItem *	PluginItem () const
	Get the plugin item. More...

void	PostParentChanges ()
	Apply changes which should come after the plugin already has a parent. More...

virtual std::string	Title () const
	Get title. More...

Public Member Functions inherited from QObject
	QObject (QObject *parent)

	QObject (QObject parent, const char name)

virtual	~QObject ()

bool	blockSignals (bool block)

QObject *	child (const char objName, const char inheritsClass, bool recursiveSearch) const

const QObjectList &	children () const

const char *	className () const

bool	connect (const QObject sender, const char signal, const char *method, Qt::ConnectionType type) const

void	deleteLater ()

void	destroyed (QObject *obj)

bool	disconnect (const char signal, const QObject receiver, const char *method)

bool	disconnect (const QObject receiver, const char method)

void	dumpObjectInfo ()

void	dumpObjectTree ()

QList< QByteArray >	dynamicPropertyNames () const

virtual bool	event (QEvent *e)

T	findChild (const QString &name) const

QList< T >	findChildren (const QRegExp &regExp) const

QList< T >	findChildren (const QString &name) const

bool	inherits (const char *className) const

void	insertChild (QObject *object)

void	installEventFilter (QObject *filterObj)

bool	isA (const char *className) const

bool	isWidgetType () const

void	killTimer (int id)

virtual const QMetaObject *	metaObject () const

void	moveToThread (QThread *targetThread)

const char *	name () const

const char *	name (const char *defaultName) const

QString	objectName () const

QObject *	parent () const

QVariant	property (const char *name) const

void	removeChild (QObject *object)

void	removeEventFilter (QObject *obj)

void	setName (const char *name)

void	setObjectName (const QString &name)

void	setParent (QObject *parent)

bool	setProperty (const char *name, const QVariant &value)

bool	signalsBlocked () const

int	startTimer (int interval)

QThread *	thread () const

Protected Member Functions
bool	eventFilter (QObject _obj, QEvent _event) override
	Filters events of type 'keypress' and 'keyrelease'. More...

Protected Member Functions inherited from Plugin
void	DeleteLater ()
	Wait until the plugin has a parent, then close and delete the parent. More...

Protected Member Functions inherited from QObject
bool	checkConnectArgs (const char signal, const QObject object, const char *method)

virtual void	childEvent (QChildEvent *event)

virtual void	connectNotify (const char *signal)

virtual void	customEvent (QEvent *event)

virtual void	disconnectNotify (const char *signal)

int	receivers (const char *signal) const

QObject *	sender () const

int	senderSignalIndex () const

virtual void	timerEvent (QTimerEvent *event)

Properties
double	maxForwardVel
	Forward velocity. More...

double	maxVerticalVel
	Vertical velocity. More...

double	maxYawVel
	Yaw velocity. More...

QString	topic
	Topic. More...

Properties inherited from QObject
	objectName

Additional Inherited Members
Static Public Member Functions inherited from QObject
bool	connect (const QObject sender, const char signal, const QObject receiver, const char method, Qt::ConnectionType type)

bool	connect (const QObject sender, const QMetaMethod &signal, const QObject receiver, const QMetaMethod &method, Qt::ConnectionType type)

bool	disconnect (const QObject sender, const char signal, const QObject receiver, const char method)

bool	disconnect (const QObject sender, const QMetaMethod &signal, const QObject receiver, const QMetaMethod &method)

QString	tr (const char sourceText, const char disambiguation, int n)

QString	trUtf8 (const char sourceText, const char disambiguation, int n)

Static Protected Member Functions inherited from QObject
QByteArray	normalizeSignalSlot (const char *signalSlot)

Protected Attributes inherited from Plugin
std::string	configStr
	XML configuration. More...

std::string	title = ""
	Title to be displayed on top of plugin. More...

Detailed Description

Publish teleop stokes to a user selected topic, or to '/cmd_vel' if no topic is selected. Buttons, the keyboard or sliders can be used to move a vehicle in the world.

Configuration

<topic>: Topic to publish twist messages to.

Constructor & Destructor Documentation

◆ Teleop()

Teleop ( )

Constructor.

◆ ~Teleop()

virtual ~Teleop ( )

virtual

Destructor.

Member Function Documentation

◆ eventFilter()

bool eventFilter	(	QObject *	_obj,
		QEvent *	_event
	)

overrideprotectedvirtual

Filters events of type 'keypress' and 'keyrelease'.

Reimplemented from QObject.

◆ LoadConfig()

virtual void LoadConfig ( const tinyxml2::XMLElement * _pluginElem )

overridevirtual

Load the plugin with a configuration file. Override this on custom plugins to handle custom configurations.

Called when a plugin is first created. This function should not be blocking.

See also: Load

Parameters

[in] _pluginElem Element containing configuration

Reimplemented from Plugin.

◆ MaxForwardVel()

Q_INVOKABLE double MaxForwardVel ( ) const

Get the forward velocity.

Returns: Forward velocity.

◆ MaxForwardVelChanged

void MaxForwardVelChanged ( )

signal

Notify that forward velocity has changed.

◆ MaxVerticalVel()

Q_INVOKABLE double MaxVerticalVel ( ) const

Get the vertical velocity.

Returns: Vertical velocity.

◆ MaxVerticalVelChanged

void MaxVerticalVelChanged ( )

signal

Notify that vertical velocity has changed.

◆ MaxYawVel()

Q_INVOKABLE double MaxYawVel ( ) const

Get the yaw velocity.

Returns: Yaw velocity.

◆ MaxYawVelChanged

void MaxYawVelChanged ( )

signal

Notify that yaw velocity has changed.

◆ OnKeySwitch

void OnKeySwitch ( bool _checked )

slot

Callback in Qt thread when the keyboard is enabled or disabled.

Parameters

[in] _checked variable to indicate the state of the switch.

◆ OnTeleopTwist

void OnTeleopTwist	(	double	_forwardVel,
		double	_verticalVel,
		double	_angVel
	)

slot

Publish the twist message to the selected command velocity topic.

Parameters

[in]	_forwardVel	Forward velocity
[in]	_verticalVel	Vertical velocity
[in]	_angVel	Yaw velocity

Returns: Topic

◆ TopicChanged

void TopicChanged ( )

signal

Notify that topic has changed.

Property Documentation

◆ maxForwardVel

double maxForwardVel

readwrite

Forward velocity.

◆ maxVerticalVel

double maxVerticalVel

readwrite

Vertical velocity.

◆ maxYawVel

double maxYawVel

readwrite

Yaw velocity.

◆ topic

QString topic

readwrite

Topic.

The documentation for this class was generated from the following file:

Teleop.hh

Gazebo Gui

API Reference

Public Slots

Signals

Public Member Functions

Protected Member Functions

Properties

Additional Inherited Members

Detailed Description

Configuration

Constructor & Destructor Documentation

◆ Teleop()

◆ ~Teleop()

Member Function Documentation

◆ eventFilter()

◆ LoadConfig()

◆ MaxForwardVel()

◆ MaxForwardVelChanged

◆ MaxVerticalVel()

◆ MaxVerticalVelChanged

◆ MaxYawVel()

◆ MaxYawVelChanged

◆ OnKeySwitch

◆ OnTeleopTwist

◆ SetKeyScale()

◆ SetMaxForwardVel

◆ SetMaxVerticalVel

◆ SetMaxYawVel

◆ SetTopic

◆ Topic()

◆ TopicChanged

Property Documentation

◆ maxForwardVel

◆ maxVerticalVel

◆ maxYawVel

◆ topic