00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2012, Worcester Polytechnic Institute 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Worcester Polytechnic Institute nor the 00019 * names of its contributors may be used to endorse or promote 00020 * products derived from this software without specific prior 00021 * written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 *********************************************************************/ 00037 00049 #ifndef ROVIO_MOVE_H_ 00050 #define ROVIO_MOVE_H_ 00051 00052 #include <geometry_msgs/Twist.h> 00053 #include <ros/ros.h> 00054 #include <rovio_shared/man_drv.h> 00055 #include <rovio_shared/rovio_http.h> 00056 #include <string> 00057 00064 class move_controller 00065 { 00066 public: 00072 move_controller(); 00073 00079 ~move_controller(); 00080 00086 void update(); 00087 00088 private: 00096 void man_drv_callback(const rovio_shared::man_drv::ConstPtr &msg); 00097 00106 void cmd_vel_callback(const geometry_msgs::Twist::ConstPtr &msg); 00107 00108 std::string host; 00109 rovio_http *rovio; 00110 ros::NodeHandle node; 00112 ros::Subscriber man_drv, cmd_vel; 00114 int drive, speed, rotate; 00115 }; 00116 00124 int main(int argc, char **argv); 00125 00126 #endif