biotac_pub.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2012, University of Pennsylvania
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 University of Pennsylvania nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00034 *
00035 * Author: Ian McMahon (imcmahon@grasp.upenn.edu)
00036 *********************************************************************/
00037 
00038 #include <ros/ros.h>
00039 #include <biotac_sensors/biotac_hand_class.h>
00040 #include <biotac_sensors/BioTacHand.h>
00041 
00042 using namespace std;
00043 using namespace biotac;
00044 
00045 
00046 int main(int argc, char** argv)
00047 {
00048   //Initialize ROS node
00049   ros::init(argc, argv, "biotac_sensors_pub", ros::init_options::AnonymousName);
00050   ros::NodeHandle n;
00051   //Loop at 100Hz
00052   ros::Rate loop_rate(100);
00053   //Advertise on "biotac_pub" topic
00054   ros::Publisher biotac_pub = n.advertise<biotac_sensors::BioTacHand>("biotac_pub", 1000);
00055   //Create a blank message to publish
00056   biotac_sensors::BioTacHand bt_hand_msg;
00057   //Check if a null_message parameter was set & publish zero data if so
00058   if(n.hasParam(ros::this_node::getName() + "/null_msg"))
00059   {
00060     biotac_sensors::BioTacData biotac_finger;
00061     bt_hand_msg.bt_data.push_back(biotac_finger);
00062     bt_hand_msg.bt_data[0].bt_serial = "Foo";
00063     bt_hand_msg.bt_data.push_back(biotac_finger);
00064     bt_hand_msg.bt_data[1].bt_serial = "Bar";
00065     bt_hand_msg.hand_id = "Null_Data";
00066     while(ros::ok())
00067     {
00068       biotac_pub.publish(bt_hand_msg);
00069       loop_rate.sleep();
00070     }
00071   }
00072   else //Start the node normally
00073   {
00074     //Name the BioTac hand that will be published
00075     BioTacHandClass left_hand("left_hand");
00076     //Connect to and configure the sensors
00077     left_hand.initBioTacSensors();
00078 
00079     while(ros::ok())
00080     { //Collect a batch of data
00081       bt_hand_msg = left_hand.collectBatch();
00082       biotac_pub.publish(bt_hand_msg);
00083       loop_rate.sleep();
00084     }
00085   }
00086   return 0;
00087 }


biotac_sensors
Author(s): Ian McMahon
autogenerated on Thu Aug 27 2015 12:35:30