teleop_nao_joy_node.cpp

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/*
 * Nao Joystick / Gamepad teleoperation
 *
 * Copyright 2009-2012 Armin Hornung, University of Freiburg
 * http://www.ros.org/wiki/nao_teleop
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Freiburg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <nao_teleop/teleop_nao_joy.h>

using namespace nao_teleop;
int main(int argc, char** argv)
{
  ros::init(argc, argv, "teleop_nao");
  TeleopNaoJoy teleopNao;
  teleopNao.subscribeToJoystick();

  // rate of publishing motion commands (too high stresses the Nao's CPU)
  double publishRate = 10.0;
  teleopNao.privateNh.param("motion_publish_rate", publishRate, publishRate);
  ros::Rate pubRate(publishRate);

  while(teleopNao.nh.ok()){
    ros::spinOnce();

    teleopNao.pubMsg();
    pubRate.sleep();
  }

  return 0;
}