sr_movements.cpp

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#include "sr_movements/movement_from_image.hpp"
#include "sr_movements/movement_publisher.hpp"

#include <ros/ros.h>
#include <iostream>


int main(int argc, char *argv[])
{
  ros::init(argc, argv, "sr_movements");

  ros::NodeHandle nh_tilde("~");
  std::string img_path;

  if( nh_tilde.getParam("image_path", img_path) )
  {
    shadowrobot::MovementFromImage mvt_im( img_path );

    double min, max, publish_rate;
    if( !nh_tilde.getParam("min", min) )
      min = 0.0;
    if( !nh_tilde.getParam("max", max) )
      max = 1.5;
    if( !nh_tilde.getParam("publish_rate", publish_rate) )
      publish_rate = 100.0;

    int repetition;
    if( !nh_tilde.getParam("repetition", repetition) )
      repetition = 1;

    int nb_mvt_step;
    if( !nh_tilde.getParam("nb_step", nb_mvt_step) )
      nb_mvt_step = 1000;

    std::string controller_type;
    if( !nh_tilde.getParam("msg_type", controller_type) )
      controller_type = "";

    shadowrobot::MovementPublisher mvt_pub( min, max, publish_rate, static_cast<unsigned int>(repetition),
                                            static_cast<unsigned int>(nb_mvt_step), controller_type);
    mvt_pub.add_movement( mvt_im );

    mvt_pub.start();
  }
  else
  {
    ROS_ERROR("No bitmap specified");
  }
  return 0;
}



/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/