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updating smoother logic #21

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updating smoother logic #21

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39 changes: 25 additions & 14 deletions src/neo_teleop.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,8 @@ class NeoTeleop : public rclcpp::Node
this->declare_parameter<int>("axis_linear_x", 1);
this->declare_parameter<int>("axis_linear_y", 0);
this->declare_parameter<int>("axis_angular_z", 2);
this->declare_parameter<double>("smooth_factor", 0.2);
this->declare_parameter<double>("smooth_factor_up", 0.2);
this->declare_parameter<double>("smooth_factor_down", 0.05);
this->declare_parameter<int>("deadman_button", 5);
this->declare_parameter<double>("joy_timeout", 1.);

Expand All @@ -64,7 +65,8 @@ class NeoTeleop : public rclcpp::Node
this->get_parameter("axis_linear_x", axis_linear_x);
this->get_parameter("axis_linear_y", axis_linear_y);
this->get_parameter("axis_angular_z", axis_angular_z);
this->get_parameter("smooth_factor", smooth_factor);
this->get_parameter("smooth_factor_up", smooth_factor_up);
this->get_parameter("smooth_factor_down", smooth_factor_down);
this->get_parameter("deadman_button", deadman_button);
this->get_parameter("joy_timeout", joy_timeout);

Expand All @@ -84,20 +86,22 @@ class NeoTeleop : public rclcpp::Node
rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_sub;
geometry_msgs::msg::Twist cmd_vel;

double linear_scale_x = 0;
double linear_scale_y = 0;
double angular_scale_z = 0;
double smooth_factor = 1;
double joy_timeout = 0;
int axis_linear_x = -1;
int axis_linear_y = -1;
int axis_angular_z = -1;
int deadman_button = -1;
double linear_scale_x = 0.0;
double linear_scale_y = 0.0;
double angular_scale_z = 0.0;
double smooth_factor = 0.0;
double smooth_factor_up = 1.0;
double smooth_factor_down = 0.05;
double joy_timeout = 0.0;
int axis_linear_x = -1.0;
int axis_linear_y = -1.0;
int axis_angular_z = -1.0;
int deadman_button = -1.0;

rclcpp::Time last_joy_time;
double joy_command_x = 0;
double joy_command_y = 0;
double joy_command_z = 0;
double joy_command_x = 0.0;
double joy_command_y = 0.0;
double joy_command_z = 0.0;

bool is_active = false;
bool is_deadman_pressed = false;
Expand Down Expand Up @@ -129,6 +133,13 @@ void NeoTeleop::joy_callback(const sensor_msgs::msg::Joy::SharedPtr joy)

void NeoTeleop::send_cmd()
{
if ((fabs(cmd_vel.linear.x) > 0.0 && joy_command_x == 0.0) ||
(fabs(cmd_vel.linear.y) > 0.0 && joy_command_y == 0.0) ||
(fabs(cmd_vel.angular.z) > 0.0 && joy_command_z == 0.0)) {
smooth_factor = smooth_factor_down;
} else {
smooth_factor = smooth_factor_up;
}
if (is_deadman_pressed) {
// smooth inputs
cmd_vel.linear.x = joy_command_x * smooth_factor + cmd_vel.linear.x * (1 - smooth_factor);
Expand Down