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Add hand touch sensor input to touch event and converters #63

Merged
merged 1 commit into from
Nov 7, 2016
Merged

Add hand touch sensor input to touch event and converters #63

merged 1 commit into from
Nov 7, 2016

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kochigami
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I tried my changes with
Nao (Naoqi version 2.1.4.13)
Pepper (Naoqi version 2.4.2.26).

I executed roslaunch naoqi_driver naoqi_driver.launch,
rostopic echo /naoqi_driver_node/hand_touch and touched Nao/ Pepper's hands.

The results are as follows:

hand: 3
state: 1

---
hand: 3
state: 0

---
hand: 5
state: 1

---

If there are any problems, please let me know.

@k-okada
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k-okada commented Feb 8, 2016

please add

    "hand":
    {
      "enabled"       : true
    }

to https://github.com/kochigami/naoqi_driver/blob/add-hand-touch-sensor-input-to-touch-programs/share/boot_config.json#L81

@k-okada
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k-okada commented Feb 8, 2016

LGTM

@kochigami
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I forgot to add comma in boot_config.json file,
which causes some errors while running roslaunch naoqi_driver naoqi_driver.launch.

I modified it. Thank you very much for your reviewing.

@kochigami kochigami mentioned this pull request Feb 19, 2016
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@kochigami kochigami force-pushed the add-hand-touch-sensor-input-to-touch-programs branch 3 times, most recently from 53132b8 to d276fd1 Compare October 19, 2016 10:18
@kochigami
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Hi, I resolved all conflicts.
Would you mind if I ask for checking and merging? Sorry for my trouble.

@kochigami kochigami force-pushed the add-hand-touch-sensor-input-to-touch-programs branch from d276fd1 to efc34a6 Compare October 19, 2016 10:22
nlyubova
nlyubova reviewed Oct 19, 2016
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+1

src/event/touch.hpp
@@ -80,6 +81,7 @@ class TouchEventRegister: public boost::enable_shared_from_this<TouchEventRegist
void touchCallback(std::string &key, qi::AnyValue &value, qi::AnyValue &message);
void touchCallbackMessage(std::string &key, bool &state, naoqi_bridge_msgs::Bumper &msg);
void touchCallbackMessage(std::string &key, bool &state, naoqi_bridge_msgs::TactileTouch &msg);
void touchCallbackMessage(std::string &key, bool &state, naoqi_bridge_msgs::HandTouch &msg);
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can you align it with the rest of the code?

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Thank you very much for your comment.
I aligned it.

src/naoqi_driver.cpp
@@ -584,6 +584,7 @@ void Driver::registerDefaultConverter()

bool bumper_enabled = boot_config_.get( "converters.bumper.enabled", true);
bool tactile_enabled = boot_config_.get( "converters.tactile.enabled", true);
bool hand_enabled = boot_config_.get( "converters.hand.enabled", true);
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can you align it with the rest of the code?

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Thank you very much for your comment.
I aligned it, too.

mikaelarguedas
mikaelarguedas reviewed Oct 20, 2016
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src/converters/touch.hpp
@@ -29,6 +29,7 @@
*/
#include <naoqi_bridge_msgs/Bumper.h>
#include <naoqi_bridge_msgs/TactileTouch.h>
#include <naoqi_bridge_msgs/HandTouch.h>
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sorry for the nicktip: could you move this one line up for alphabetical order ? (same below). Thanks!

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Thank you very much for your comment.
I moved the line in alphabetical order.

@kochigami kochigami force-pushed the add-hand-touch-sensor-input-to-touch-programs branch from efc34a6 to 355c2f2 Compare October 24, 2016 02:19
suryaambrose
suryaambrose approved these changes Nov 5, 2016
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lgtm

@suryaambrose suryaambrose mentioned this pull request Nov 5, 2016
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@kochigami kochigami mentioned this pull request Nov 7, 2016
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@kochigami kochigami merged commit efd2315 into ros-naoqi:master Nov 7, 2016
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memo:
Pepper: only reacts to right back and left back of HandTouch.msg

rostopic echo /pepper_robot/hand_touch 
hand: 3
state: 1
---
hand: 3
state: 0
---
hand: 0
state: 1
---
hand: 0
state: 0
---

Nao: reacts to right back/ right left/ right right/ left back/ left left/ left right (all types) of HandTouch.msg

rostopic echo /nao_robot/hand_touch 
hand: 3
state: 1
---
hand: 3
state: 0
---
hand: 4
state: 1
---
hand: 4
state: 0
---
hand: 5
state: 1
---
hand: 5
state: 0
---

I'll merge this. If there is any problem, please let me know. Sorry for my trouble.

@kochigami kochigami deleted the add-hand-touch-sensor-input-to-touch-programs branch November 7, 2016 03:02
michieletto pushed a commit to michieletto/naoqi_driver that referenced this pull request May 24, 2017
@kochigami @michieletto
Merge pull request ros-naoqi#63 from kochigami/add-hand-touch-sensor-…
9418b3d 
…input-to-touch-programs

Add hand touch sensor input to touch event and converters
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@mikaelarguedas mikaelarguedas mikaelarguedas left review comments

@suryaambrose suryaambrose suryaambrose approved these changes

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5 participants
@kochigami @k-okada @mikaelarguedas @nlyubova @suryaambrose