interactivity_tutorial.cpp

Go to the documentation of this file.

/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2013, Willow Garage, Inc.
*  All rights reserved.
*
*  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 Willow Garage, Inc. 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.
*
* Author: Acorn Pooley
*********************************************************************/

// This code goes with the interactivity tutorial
//    http://moveit.ros.org/wiki/index.php/Groovy/InteractiveRobot/InteractivityTutorial

#include <ros/ros.h>
#include "interactive_robot.h"
#include "pose_string.h"


void help()
{
  ROS_INFO("#####################################################");
  ROS_INFO("RVIZ SETUP");
  ROS_INFO("----------");
  ROS_INFO("  Global options:");
  ROS_INFO("    FixedFrame = /base_footprint");
  ROS_INFO("  Add a RobotState display:");
  ROS_INFO("    RobotDescription = robot_description");
  ROS_INFO("    RobotStateTopic  = interactive_robot_state");
  ROS_INFO("  Add a Marker display:");
  ROS_INFO("    MarkerTopic = interactive_robot_markers");
  ROS_INFO("  Add an InteractiveMarker display:");
  ROS_INFO("    UpdateTopic = interactive_robot_imarkers/update");
  ROS_INFO("#####################################################");
}


void userCallback(InteractiveRobot& robot)
{
  ROS_INFO_STREAM("Robot position: " <<
    PoseString(robot.robotState()->getLinkState("r_wrist_roll_link")->getGlobalLinkTransform()));
}


int main(int argc, char **argv)
{
  ros::init (argc, argv, "acorn_play");
  ros::NodeHandle nh;

  InteractiveRobot robot;

  robot.setUserCallback(userCallback);

  help();

  ros::spin();

  ros::shutdown();
  return 0;
}