Gazebo Gui

API Reference

7.2.2

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
 
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...
 

Protected Member Functions

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

Properties

double maxForwardVel
 Forward velocity. More...
 
double maxVerticalVel
 Vertical velocity. More...
 
double maxYawVel
 Yaw velocity. More...
 
QString topic
 Topic. 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 
)
overrideprotected

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

◆ LoadConfig()

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

◆ 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]_checkedvariable 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]_forwardVelForward velocity
[in]_verticalVelVertical velocity
[in]_angVelYaw velocity

◆ SetKeyScale()

void SetKeyScale ( )

Sets the movement scale when the keyboard is used.

◆ SetMaxForwardVel

void SetMaxForwardVel ( double  _velocity)
slot

Callback in Qt thread when the forward velocity changes.

Parameters
[in]_velocityvariable to indicate the forward velocity.

◆ SetMaxVerticalVel

void SetMaxVerticalVel ( double  _velocity)
slot

Callback in Qt thread when the vertical velocity changes.

Parameters
[in]_velocityvariable to indicate the vertical velocity.

◆ SetMaxYawVel

void SetMaxYawVel ( double  _velocity)
slot

Callback in Qt thread when the yaw velocity changes.

Parameters
[in]_velocityvariable to indicate the yaw velocity.

◆ SetTopic

void SetTopic ( const QString _topic)
slot

Callback in Qt thread when the topic changes.

Parameters
[in]_topicvariable to indicate the topic to publish the Twist commands.

◆ Topic()

Q_INVOKABLE QString Topic ( ) const

Get the topic as a string, for example '/echo'.

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: