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Teleop: make default velocities configurable #778

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Teleop: make default velocities configurable #778

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7 changes: 7 additions & 0 deletions src/plugins/teleop/Teleop.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -125,6 +125,13 @@ void Teleop::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
auto topicElem = _pluginElem->FirstChildElement("topic");
if (nullptr != topicElem && nullptr != topicElem->GetText())
this->SetTopic(topicElem->GetText());
if (auto maxFwd = _pluginElem->FirstChildElement("max_forward_velocity"))
this->SetMaxForwardVel(maxFwd->DoubleText(this->dataPtr->maxForwardVel));
if (auto maxVrt = _pluginElem->FirstChildElement("max_vertical_velocity"))
this->SetMaxVerticalVel(
maxVrt->DoubleText(this->dataPtr->maxVerticalVel));
if (auto maxYaw = _pluginElem->FirstChildElement("max_yaw_velocity"))
this->SetMaxYawVel(maxYaw->DoubleText(this->dataPtr->maxYawVel));
}

App()->findChild<MainWindow *>()->QuickWindow()->installEventFilter(this);
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3 changes: 3 additions & 0 deletions src/plugins/teleop/Teleop.hh
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Expand Up @@ -45,6 +45,9 @@ namespace gz::gui::plugins
/// vehicle in the world.
/// ## Configuration
/// * `<topic>`: Topic to publish twist messages to.
/// * `<max_forward_velocity>`: Maximum forward velocity.
/// * `<max_vertical_velocity>`: Maximum vertical velocity.
/// * `<max_yaw_velocity>`: Maximum yaw velocity.
class Teleop_EXPORTS_API Teleop : public Plugin
{
Q_OBJECT
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