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[quadruped_joystick_teleop.cpp] show response messages too
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@k-okada
k-okada committed Dec 18, 2024
1 parent 25dd087 commit f655c9b
Showing 1 changed file with 17 additions and 17 deletions.
34 changes: 17 additions & 17 deletions jsk_robot_common/jsk_robot_startup/src/quadruped_joystick_teleop.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ class TeleopManager
sound_play::SoundRequest msg;
msg.sound = sound_play::SoundRequest::SAY;
msg.command = sound_play::SoundRequest::PLAY_ONCE;
msg.volume = 1.0;
msg.volume = 0.3;
msg.arg = message;
pub_sound_play_.publish(msg);
}
Expand All @@ -92,7 +92,7 @@ class TeleopManager
if ( client_estop_hard_.call(srv) && srv.response.success ) {
ROS_INFO_STREAM("Service " << client_estop_hard_.getService() << " succeeded.");
} else {
ROS_ERROR_STREAM("Service " << client_estop_hard_.getService() << " failed.");
ROS_ERROR_STREAM("Service " << client_estop_hard_.getService() << " failed. (" << srv.response.message << ")");
}
pressed_[button_estop_hard_] = true;
}
Expand All @@ -115,7 +115,7 @@ class TeleopManager
if ( client_estop_gentle_.call(srv) && srv.response.success ) {
ROS_INFO_STREAM("Service " << client_estop_gentle_.getService() << " succeeded.");
} else {
ROS_ERROR_STREAM("Service " << client_estop_gentle_.getService() << " failed.");
ROS_ERROR_STREAM("Service " << client_estop_gentle_.getService() << " failed. (" << srv.response.message << ")");
}
pressed_[button_estop_gentle_] = true;
}
Expand All @@ -138,7 +138,7 @@ class TeleopManager
if ( client_power_off_.call(srv) && srv.response.success ) {
ROS_INFO_STREAM("Service " << client_power_off_.getService() << " succeeded.");
} else {
ROS_ERROR_STREAM("Service " << client_power_off_.getService() << " failed.");
ROS_ERROR_STREAM("Service " << client_power_off_.getService() << " failed. (" << srv.response.message << ")");
}
pressed_[button_power_off_] = true;
}
Expand All @@ -161,7 +161,7 @@ class TeleopManager
if ( client_power_on_.call(srv) && srv.response.success ) {
ROS_INFO_STREAM("Service " << client_power_on_.getService() << " succeeded.");
} else {
ROS_ERROR_STREAM("Service " << client_power_on_.getService() << " failed.");
ROS_ERROR_STREAM("Service " << client_power_on_.getService() << " failed. (" << srv.response.message << ")");
}
pressed_[button_power_on_] = true;
}
Expand All @@ -184,7 +184,7 @@ class TeleopManager
if ( client_self_right_.call(srv) && srv.response.success ) {
ROS_INFO_STREAM("Service " << client_self_right_.getService() << " succeeded.");
} else {
ROS_ERROR_STREAM("Service " << client_self_right_.getService() << " failed.");
ROS_ERROR_STREAM("Service " << client_self_right_.getService() << " failed. (" << srv.response.message << ")");
}
pressed_[button_self_right_] = true;
}
Expand All @@ -207,7 +207,7 @@ class TeleopManager
if ( client_sit_.call(srv) && srv.response.success ) {
ROS_INFO_STREAM("Service " << client_sit_.getService() << " succeeded.");
} else {
ROS_ERROR_STREAM("Service " << client_sit_.getService() << " failed.");
ROS_ERROR_STREAM("Service " << client_sit_.getService() << " failed. (" << srv.response.message << ")");
}
pressed_[button_sit_] = true;
}
Expand All @@ -230,7 +230,7 @@ class TeleopManager
if ( client_stand_.call(srv) && srv.response.success ) {
ROS_INFO_STREAM("Service " << client_stand_.getService() << " succeeded.");
} else {
ROS_ERROR_STREAM("Service " << client_stand_.getService() << " failed.");
ROS_ERROR_STREAM("Service " << client_stand_.getService() << " failed. (" << srv.response.message << ")");
}
pressed_[button_stand_] = true;
}
Expand All @@ -253,7 +253,7 @@ class TeleopManager
if ( client_stop_.call(srv) && srv.response.success ) {
ROS_INFO_STREAM("Service " << client_stop_.getService() << " succeeded.");
} else {
ROS_ERROR_STREAM("Service " << client_stop_.getService() << " failed.");
ROS_ERROR_STREAM("Service " << client_stop_.getService() << " failed. (" << srv.response.message << ")");
}
pressed_[button_stop_] = true;
}
Expand All @@ -276,7 +276,7 @@ class TeleopManager
if ( client_release_.call(srv) && srv.response.success ) {
ROS_INFO_STREAM("Service " << client_release_.getService() << " succeeded.");
} else {
ROS_ERROR_STREAM("Service " << client_release_.getService() << " failed.");
ROS_ERROR_STREAM("Service " << client_release_.getService() << " failed. (" << srv.response.message << ")");
}
pressed_[button_release_] = true;
}
Expand All @@ -299,7 +299,7 @@ class TeleopManager
if ( client_claim_.call(srv) && srv.response.success ) {
ROS_INFO_STREAM("Service " << client_claim_.getService() << " succeeded.");
} else {
ROS_ERROR_STREAM("Service " << client_claim_.getService() << " failed.");
ROS_ERROR_STREAM("Service " << client_claim_.getService() << " failed. (" << srv.response.message << ")");
}
pressed_[button_claim_] = true;
}
Expand Down Expand Up @@ -328,7 +328,7 @@ class TeleopManager
ROS_INFO_STREAM("Service " << client_stair_mode_.getService() << " succeeded. set to " << req_next_stair_mode_.data);
req_next_stair_mode_.data = not req_next_stair_mode_.data;
} else {
ROS_ERROR_STREAM("Service " << client_stair_mode_.getService() << " failed.");
ROS_ERROR_STREAM("Service " << client_stair_mode_.getService() << " failed. (" << srv.response.message << ")");
}
pressed_[button_stair_mode_] = true;
}
Expand All @@ -350,17 +350,17 @@ class TeleopManager
if (client_dock_.call(srv) && srv.response.success ){
ROS_INFO_STREAM("Service '" << client_dock_.getService() << "' succeeded.");
} else {
ROS_ERROR_STREAM("Service '" << client_dock_.getService() << "' failed.");
ROS_ERROR_STREAM("Service '" << client_dock_.getService() << "' failed. (" << srv.response.message << ")");
}
pressed_axes_[axe_dock_] = true;
}
} else if (msg->axes[axe_dock_]==1) {
if (not pressed_axes_[axe_dock_]){
this->say("undock calling");
if (client_undock_.call(srv) && srv.response.success ){
ROS_INFO("Service 'undock' succeeded.");
ROS_INFO_STREAM("Service '" << client_undock_.getService() << "' succeeded.");
} else {
ROS_ERROR("Service 'undock' failed.");
ROS_ERROR_STREAM("Service '" << client_undock_.getService() << "' failed. (" << srv.response.message << ")");
}
pressed_axes_[axe_dock_] = true;
}
Expand All @@ -384,7 +384,7 @@ class TeleopManager
if (client_tuck_.call(srv) && srv.response.success ){
ROS_INFO_STREAM("Service '" << client_tuck_.getService() << "' succeeded.");
} else {
ROS_ERROR_STREAM("Service '" << client_tuck_.getService() << "' failed.");
ROS_ERROR_STREAM("Service '" << client_tuck_.getService() << "' failed. (" << srv.response.message << ")");
}
pressed_axes_[axe_tuck_] = true;
}
Expand All @@ -394,7 +394,7 @@ class TeleopManager
if (client_untuck_.call(srv) && srv.response.success ){
ROS_INFO_STREAM("Service '" << client_untuck_.getService() << "' succeeded.");
} else {
ROS_ERROR_STREAM("Service '" << client_untuck_.getService() << "' failed.");
ROS_ERROR_STREAM("Service '" << client_untuck_.getService() << "' failed. (" << srv.response.message << ")");
}
pressed_axes_[axe_tuck_] = true;
}
Expand Down

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