joy_common.hpp

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#ifndef _JOY_COMMON_HPP
#define _JOY_COMMON_HPP
 
#include <joy_common_msgs/msg/buttons.hpp>
#include <joy_common_msgs/msg/joy.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/joy.hpp>
#include <string>
 
namespace joy_common
{
 
using ButtonValue = std::variant<bool, double>;
using ButtonMap =
  std::map<std::string, std::function<ButtonValue(const joy_common_msgs::msg::Buttons &)>>;
 
ButtonMap get_button_map();
 
class JoyCommon : public rclcpp::Node
{
public:
  explicit JoyCommon(const rclcpp::NodeOptions & options);
 
private:
  std::string device_name;
  double force_x_scale, force_y_scale, force_z_scale;
  double torque_x_scale, torque_z_scale;
 
  rclcpp::Publisher<joy_common_msgs::msg::Joy>::SharedPtr pub_;
  rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr sub_;
 
  void _joyCallback(const sensor_msgs::msg::Joy::SharedPtr msg);
};
 
}  // namespace joy_common
 
#endif  // !_JOY_COMMON_HPP