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 load to the world.

Configuration

This plugin doesn't accept any custom configuration. More...

#include <Teleop.hh>

Public Slots
void	OnAngularVelSelection (double _velocity)
	Callback in Qt thread when the angular velocity changes. More...

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

void	OnLinearVelSelection (double _velocity)
	Callback in Qt thread when the linear velocity changes. More...

void	OnSlidersSwitch (bool _checked)
	Callback in Qt thread when the sliders is enabled or disabled. More...

void	OnTeleopTwist ()
	Publish the twist message to the selected command velocity topic. More...

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

Signals
void	AngularDirectionChanged ()
	Notify that the angular direction changed. More...

void	LinearDirectionChanged ()
	Notify that the linear direction changed. More...

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

virtual	~Teleop ()
	Destructor. More...

Q_INVOKABLE int	AngularDirection () const
	Returns the angular direction variable value. When the turn is counterclockwise it takes the value 1, when is clockwise it takes the value -1, and when it's 0 the movement stops. More...

Q_INVOKABLE int	LinearDirection () const
	Returns the linear direction variable value. When the movement is forward it takes the value 1, when is backward it takes the value -1, and when it's 0 the movement stops. 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 void	setAngularDirection (int _angularDir)
	Set the angular direction of the movement. More...

void	SetKeyDirection ()
	Sets the movement direction when the keyboard is used. More...

Q_INVOKABLE void	setLinearDirection (int _linearDir)
	Set the linear direction of the movement. 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 QObject receiver, const char method)

bool	disconnect (const char signal, 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
int	angularDir
	Angular direction. More...

int	linearDir
	Linear direction. 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 load to the world.

Configuration

This plugin doesn't accept any custom configuration.

Constructor & Destructor Documentation

◆ Teleop()

Teleop ( )

Constructor.

◆ ~Teleop()

virtual ~Teleop ( )

virtual

Destructor.

Member Function Documentation

◆ AngularDirection()

Q_INVOKABLE int AngularDirection ( ) const

Returns the angular direction variable value. When the turn is counterclockwise it takes the value 1, when is clockwise it takes the value -1, and when it's 0 the movement stops.

◆ AngularDirectionChanged

void AngularDirectionChanged ( )

signal

Notify that the angular direction changed.

◆ eventFilter()

bool eventFilter	(	QObject *	_obj,
		QEvent *	_event
	)

overrideprotectedvirtual

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

Reimplemented from QObject.

◆ LinearDirection()

Q_INVOKABLE int LinearDirection ( ) const

Returns the linear direction variable value. When the movement is forward it takes the value 1, when is backward it takes the value -1, and when it's 0 the movement stops.

◆ LinearDirectionChanged

void LinearDirectionChanged ( )

signal

Notify that the linear direction changed.

◆ LoadConfig()

virtual void LoadConfig ( const tinyxml2::XMLElement * )

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.

◆ OnAngularVelSelection

void OnAngularVelSelection ( double _velocity )

slot

Callback in Qt thread when the angular velocity changes.

Parameters

[in] _velocity variable to indicate the angular velocity.

◆ 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.

◆ OnLinearVelSelection

void OnLinearVelSelection ( double _velocity )

slot

Callback in Qt thread when the linear velocity changes.

Parameters

[in] _velocity variable to indicate the linear velocity.

◆ OnSlidersSwitch

void OnSlidersSwitch ( bool _checked )

slot

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

Parameters

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

◆ OnTeleopTwist

void OnTeleopTwist ( )

slot

Publish the twist message to the selected command velocity topic.

◆ OnTopicSelection

void OnTopicSelection ( const QString & _topic )

slot

Callback in Qt thread when the topic changes.

Parameters

[in] _topic variable to indicate the topic to publish the Twist commands.

◆ setAngularDirection()

Q_INVOKABLE void setAngularDirection ( int _angularDir )

Set the angular direction of the movement.

Parameters

[in] _angularDir Modifier of the velocity for setting the direction of the rotation.

◆ SetKeyDirection()

void SetKeyDirection ( )

Sets the movement direction when the keyboard is used.

◆ setLinearDirection()

Q_INVOKABLE void setLinearDirection ( int _linearDir )

Set the linear direction of the movement.

Parameters

[in] _linearDir Modifier of the velocity for setting the movement direction.

Property Documentation

◆ angularDir

int angularDir

readwrite

Angular direction.

◆ linearDir

int linearDir

readwrite

Linear direction.

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

Teleop.hh

Ignition Gui

API Reference

Configuration

Public Slots

Signals

Public Member Functions

Protected Member Functions

Properties

Additional Inherited Members

Detailed Description

Configuration

Constructor & Destructor Documentation

◆ Teleop()

◆ ~Teleop()

Member Function Documentation

◆ AngularDirection()

◆ AngularDirectionChanged

◆ eventFilter()

◆ LinearDirection()

◆ LinearDirectionChanged

◆ LoadConfig()

◆ OnAngularVelSelection

◆ OnKeySwitch

◆ OnLinearVelSelection

◆ OnSlidersSwitch

◆ OnTeleopTwist

◆ OnTopicSelection

◆ setAngularDirection()

◆ SetKeyDirection()

◆ setLinearDirection()

Property Documentation

◆ angularDir

◆ linearDir