tigertest.cpp

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#include<iostream>
#include<time.h>
#include "ros/ros.h"
#include "appl/appl_request.h"
using namespace std;
int obs[8]={0,1,0,1,0,1,0,0};
int main(int argc,char**argv)
{

        /*ros initializations*/
        ros::init(argc,argv,"tiger");
        ros::NodeHandle nh;
        ros::ServiceClient client = nh.serviceClient<appl::appl_request>("appl_request");
        
        srand((unsigned)time(0));
        int tiger;//0=left 1=right
        tiger=rand()%2;
        
        appl::appl_request srv;
        srv.request.cmd=1;      //reset the controller first
        client.call(srv);
        int action=srv.response.action;
        ROS_INFO("%d",action);
        
        string state_str;
        int i;
        char rob_vel_str[30];
        for(i=0;i<8;i++)
        {
                if(obs[i]==0)           //left
                {
                        state_str="obs-left";
                }
                else
                {
                        state_str="obs-right";
                }
                srv.request.cmd=2;
                srv.request.obs=state_str;
                client.call(srv);
        }
}