Merge pull request #133 from BCLab-UNM/hotfix-manual-gripper-fix

Do not accept manual joystick commands in auto mode

Author: gmfricke

src/rqt_rover_gui/src/rover_gui_plugin.cpp

@@ -249,6 +249,12 @@ void RoverGUIPlugin::restoreSettings(const qt_gui_cpp::Settings& plugin_settings
 // Receives messages from the ROS joystick driver and used them to articulate the gripper and drive the rover.
 void RoverGUIPlugin::joyEventHandler(const sensor_msgs::Joy::ConstPtr& joy_msg)
 {
+  // Are we in autonomous mode? If so do not process manual drive and gripper controls.
+  if ( rover_control_state.count(selected_rover_name) == 2 )
+  {
+    return;
+  }
+  
      // Give the array values some helpful names:
     int left_stick_x_axis = 0; // Gripper fingers close and open
     int left_stick_y_axis = 1; // Gripper wrist up and down
@@ -358,7 +364,7 @@ void RoverGUIPlugin::joyEventHandler(const sensor_msgs::Joy::ConstPtr& joy_msg)
 
 
         joystick_publisher.publish(joy_msg);
-    }
+     }
 }
 
 void RoverGUIPlugin::EKFEventHandler(const ros::MessageEvent<const nav_msgs::Odometry> &event)