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Quadruped joystick teleop: say something when service call failed #1930

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Quadruped joystick teleop: say something when service call failed #1930

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f655c9b
[quadruped_joystick_teleop.cpp] show response messages too
k-okada Oct 20, 2022
716473d
jsk_robot_startup/src/quadruped_joystick_teleop.cpp: say something wh…
k-okada Dec 18, 2024
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49 changes: 32 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 +92,8 @@ 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 << ")");
this->say("estop hard failed" + srv.response.message);
}
pressed_[button_estop_hard_] = true;
}
Expand All @@ -115,7 +116,8 @@ 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 << ")");
this->say("estop gentle failed" + srv.response.message);
}
pressed_[button_estop_gentle_] = true;
}
Expand All @@ -138,7 +140,8 @@ 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 << ")");
this->say("power off failed" + srv.response.message);
}
pressed_[button_power_off_] = true;
}
Expand All @@ -161,7 +164,8 @@ 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 << ")");
this->say("power on failed" + srv.response.message);
}
pressed_[button_power_on_] = true;
}
Expand All @@ -184,7 +188,8 @@ 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 << ")");
this->say("self right failed" + srv.response.message);
}
pressed_[button_self_right_] = true;
}
Expand All @@ -207,7 +212,8 @@ 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 << ")");
this->say("sit failed" + srv.response.message);
}
pressed_[button_sit_] = true;
}
Expand All @@ -230,7 +236,8 @@ 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 << ")");
this->say("stand failed" + srv.response.message);
}
pressed_[button_stand_] = true;
}
Expand All @@ -253,7 +260,8 @@ 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 << ")");
this->say("stop failed" + srv.response.message);
}
pressed_[button_stop_] = true;
}
Expand All @@ -276,7 +284,8 @@ 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 << ")");
this->say("release failed" + srv.response.message);
}
pressed_[button_release_] = true;
}
Expand All @@ -299,7 +308,8 @@ 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 << ")");
this->say("claim failed" + srv.response.message);
}
pressed_[button_claim_] = true;
}
Expand Down Expand Up @@ -328,7 +338,8 @@ 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 << ")");
this->say("stair mode failed" + srv.response.message);
}
pressed_[button_stair_mode_] = true;
}
Expand All @@ -350,17 +361,19 @@ 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 << ")");
this->say("dock 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 << ")");
this->say("undock failed" + srv.response.message);
}
pressed_axes_[axe_dock_] = true;
}
Expand All @@ -384,7 +397,8 @@ 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 << ")");
this->say("tuck failed" + srv.response.message);
}
pressed_axes_[axe_tuck_] = true;
}
Expand All @@ -394,7 +408,8 @@ 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 << ")");
this->say("untuck failed" + srv.response.message);
}
pressed_axes_[axe_tuck_] = true;
}
Expand Down
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