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robotnik_pad_plugins: Add condition to stop elevator movement if dead… #23

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1 change: 1 addition & 0 deletions robotnik_pad_plugins/include/robotnik_pad_plugins/elevator_plugin.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@ class PadPluginElevator : public GenericPadPlugin
double axis_elevator_;
bool elevator_is_running_;
bool stop_elevator_;
bool stop_elevator_dead_man_;

std::string elevator_service_name_;
ros::ServiceClient set_elevator_client_;
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61 changes: 45 additions & 16 deletions robotnik_pad_plugins/src/elevator_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ void PadPluginElevator::initialize(const ros::NodeHandle& nh, const std::string&
readParam(pnh_, "config/axis_elevator", axis_elevator_, axis_elevator_, required);
readParam(pnh_, "elevator_service_name", elevator_service_name_, elevator_service_name_, required);
readParam(pnh_, "stop_elevator", stop_elevator_, false, not_required);

readParam(pnh_, "stop_elevator_dead_man", stop_elevator_dead_man_, false, not_required);
// Service client
set_elevator_client_ = nh_.serviceClient<robotnik_msgs::SetElevator>(elevator_service_name_);

Expand All @@ -34,47 +34,76 @@ void PadPluginElevator::execute(const std::vector<Button>& buttons, std::vector<
{
if (axes[axis_elevator_] > 0.95)
{
robotnik_msgs::SetElevator elevator_msg_srv;
elevator_msg_srv.request.action.action = robotnik_msgs::ElevatorAction::RAISE;
ROS_INFO_NAMED("PadPluginElevator", "PadPluginElevator::execute: Raising...");
elevator_is_running_ = true;
if (set_elevator_client_.call(elevator_msg_srv) != true || elevator_msg_srv.response.ret != true)
if (!elevator_is_running_)
{
ROS_ERROR_NAMED("PadPluginElevator", "PadPluginElevator::execute: Error raising");
robotnik_msgs::SetElevator elevator_msg_srv;
elevator_msg_srv.request.action.action = robotnik_msgs::ElevatorAction::RAISE;
ROS_INFO_NAMED("PadPluginElevator", "PadPluginElevator::execute: Raising...");
if (set_elevator_client_.call(elevator_msg_srv) != true || elevator_msg_srv.response.ret != true)
{
ROS_ERROR_NAMED("PadPluginElevator", "PadPluginElevator::execute: Error raising");
}
else
{
elevator_is_running_ = true;
}
}
}
if (axes[axis_elevator_] < -0.95)
{
robotnik_msgs::SetElevator elevator_msg_srv;
elevator_msg_srv.request.action.action = robotnik_msgs::ElevatorAction::LOWER;
elevator_is_running_ = true;
ROS_INFO_NAMED("PadPluginElevator", "PadPluginElevator::execute: Lowering...");

if (set_elevator_client_.call(elevator_msg_srv) != true || elevator_msg_srv.response.ret != true)
if (!elevator_is_running_)
{
ROS_ERROR_NAMED("PadPluginElevator", "PadPluginElevator::execute: Error lowering");
robotnik_msgs::SetElevator elevator_msg_srv;
elevator_msg_srv.request.action.action = robotnik_msgs::ElevatorAction::LOWER;
ROS_INFO_NAMED("PadPluginElevator", "PadPluginElevator::execute: Lowering...");
if (set_elevator_client_.call(elevator_msg_srv) != true || elevator_msg_srv.response.ret != true)
{
ROS_ERROR_NAMED("PadPluginElevator", "PadPluginElevator::execute: Error lowering");
}
else
{
elevator_is_running_ = true;
}
}
}

if (stop_elevator_==true){
if (stop_elevator_){

if (axes[axis_elevator_] > -0.1 && axes[axis_elevator_] < 0.1 && elevator_is_running_ == true)
{
robotnik_msgs::SetElevator elevator_msg_srv;
elevator_msg_srv.request.action.action = robotnik_msgs::ElevatorAction::STOP;
elevator_is_running_ = false;
ROS_INFO_NAMED("PadPluginElevator", "PadPluginElevator::execute: Stoping...");

if (set_elevator_client_.call(elevator_msg_srv) != true || elevator_msg_srv.response.ret != true)
{
ROS_ERROR_NAMED("PadPluginElevator", "PadPluginElevator::execute: Error stoping");
}
else
{
elevator_is_running_ = false;
}
}
}

}
else if (buttons[button_dead_man_].isReleased())
{
if (stop_elevator_dead_man_ && elevator_is_running_)
{
robotnik_msgs::SetElevator elevator_msg_srv;
elevator_msg_srv.request.action.action = robotnik_msgs::ElevatorAction::STOP;
ROS_INFO_NAMED("PadPluginElevator", "PadPluginElevator::execute: Stoping...");

if (set_elevator_client_.call(elevator_msg_srv) != true || elevator_msg_srv.response.ret != true)
{
ROS_ERROR_NAMED("PadPluginElevator", "PadPluginElevator::execute: Error stoping");
}
else
{
elevator_is_running_ = false;
}
}
}
}

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