qnode.cpp

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/*****************************************************************************
** Includes
*****************************************************************************/

#include <ros/ros.h>
#include <ros/network.h>
#include <string>
#include <std_msgs/String.h>
#include <sstream>
#include "../include/%(package)s/qnode.hpp"

/*****************************************************************************
** Namespaces
*****************************************************************************/

namespace %(package)s {

/*****************************************************************************
** Implementation
*****************************************************************************/

QNode::QNode(int argc, char** argv ) :
        init_argc(argc),
        init_argv(argv)
        {}

QNode::~QNode() {
    if(ros::isStarted()) {
      ros::shutdown(); // explicitly needed since we use ros::start();
      ros::waitForShutdown();
    }
        wait();
}

bool QNode::init() {
        ros::init(init_argc,init_argv,"%(package)s");
        if ( ! ros::master::check() ) {
                return false;
        }
        ros::start(); // explicitly needed since our nodehandle is going out of scope.
        ros::NodeHandle n;
        // Add your ros communications here.
        chatter_publisher = n.advertise<std_msgs::String>("chatter", 1000);
        start();
        return true;
}

bool QNode::init(const std::string &master_url, const std::string &host_url) {
        std::map<std::string,std::string> remappings;
        remappings["__master"] = master_url;
        remappings["__hostname"] = host_url;
        ros::init(remappings,"%(package)s");
        if ( ! ros::master::check() ) {
                return false;
        }
        ros::start(); // explicitly needed since our nodehandle is going out of scope.
        ros::NodeHandle n;
        // Add your ros communications here.
        chatter_publisher = n.advertise<std_msgs::String>("chatter", 1000);
        start();
        return true;
}

void QNode::run() {
        ros::Rate loop_rate(1);
        int count = 0;
        while ( ros::ok() ) {

                std_msgs::String msg;
                std::stringstream ss;
                ss << "hello world " << count;
                msg.data = ss.str();
                chatter_publisher.publish(msg);
                log(Info,std::string("I sent: ")+msg.data);
                ros::spinOnce();
                loop_rate.sleep();
                ++count;
        }
        std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
        Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}


void QNode::log( const LogLevel &level, const std::string &msg) {
        logging_model.insertRows(logging_model.rowCount(),1);
        std::stringstream logging_model_msg;
        switch ( level ) {
                case(Debug) : {
                                ROS_DEBUG_STREAM(msg);
                                logging_model_msg << "[DEBUG] [" << ros::Time::now() << "]: " << msg;
                                break;
                }
                case(Info) : {
                                ROS_INFO_STREAM(msg);
                                logging_model_msg << "[INFO] [" << ros::Time::now() << "]: " << msg;
                                break;
                }
                case(Warn) : {
                                ROS_WARN_STREAM(msg);
                                logging_model_msg << "[INFO] [" << ros::Time::now() << "]: " << msg;
                                break;
                }
                case(Error) : {
                                ROS_ERROR_STREAM(msg);
                                logging_model_msg << "[ERROR] [" << ros::Time::now() << "]: " << msg;
                                break;
                }
                case(Fatal) : {
                                ROS_FATAL_STREAM(msg);
                                logging_model_msg << "[FATAL] [" << ros::Time::now() << "]: " << msg;
                                break;
                }
        }
        QVariant new_row(QString(logging_model_msg.str().c_str()));
        logging_model.setData(logging_model.index(logging_model.rowCount()-1),new_row);
        Q_EMIT loggingUpdated(); // used to readjust the scrollbar
}

}  // namespace %(package)s