velocity_node.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions are met:
 *
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <semanticmodel/velocity.h>
#include <ros/ros.h>

namespace sm=semanticmodel;
namespace mr=mongo_ros;
namespace gm=geometry_msgs;

using std::cerr;
using boost::shared_ptr;

int main (int argc, char** argv)
{
  // Parse args
  ros::init(argc, argv, "velocity_node");
  if (argc!=7)
  {
    cerr << "Usage: " << argv[0] <<
      " POINT_FRAME X Y Z REF_FRAME PUBLICATION_RATE(hz)\n";
    return 1;
  }
  
  // Initialize ros comms
  ros::NodeHandle nh("~");
  shared_ptr<mr::LiveTransformSource> trans(new mr::LiveTransformSource);
  sm::VelocityCalc vel_calc(trans, argv[5]);
  ros::Publisher pub = nh.advertise<gm::Vector3>("velocity", 10);
  ros::Rate r(atof(argv[6]));
  
  // Main loop
  while (ros::ok())
  {
    r.sleep();

    // Form point
    gm::PointStamped p;
    p.header.frame_id = argv[1];
    p.header.stamp = ros::Time::now();
    p.point.x = atof(argv[2]);
    p.point.y = atof(argv[3]);
    p.point.z = atof(argv[4]);

    // Find velocity and publish
    try
    {
      const gm::Vector3 vel = vel_calc.velocity(p);
      pub.publish(vel);
    }
    catch (tf::TransformException& e)
    {
      ROS_WARN ("Skipping velocity pub due to tf exception '%s'",
                e.what());
    }
  }
  return 0;
}