biotac_pub.cpp

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* Author: Ian McMahon (imcmahon@grasp.upenn.edu)
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#include <ros/ros.h>
#include <biotac_sensors/biotac_hand_class.h>
#include <biotac_sensors/BioTacHand.h>

using namespace std;
using namespace biotac;


int main(int argc, char** argv)
{
  //Initialize ROS node
  ros::init(argc, argv, "biotac_sensors_pub", ros::init_options::AnonymousName);
  ros::NodeHandle n;
  //Loop at 100Hz
  ros::Rate loop_rate(100);
  //Advertise on "biotac_pub" topic
  ros::Publisher biotac_pub = n.advertise<biotac_sensors::BioTacHand>("biotac_pub", 1000);
  //Create a blank message to publish
  biotac_sensors::BioTacHand bt_hand_msg;
  //Check if a null_message parameter was set & publish zero data if so
  if(n.hasParam(ros::this_node::getName() + "/null_msg"))
  {
    biotac_sensors::BioTacData biotac_finger;
    bt_hand_msg.bt_data.push_back(biotac_finger);
    bt_hand_msg.bt_data[0].bt_serial = "Foo";
    bt_hand_msg.bt_data.push_back(biotac_finger);
    bt_hand_msg.bt_data[1].bt_serial = "Bar";
    bt_hand_msg.hand_id = "Null_Data";
    while(ros::ok())
    {
      biotac_pub.publish(bt_hand_msg);
      loop_rate.sleep();
    }
  }
  else //Start the node normally
  {
    //Name the BioTac hand that will be published
    BioTacHandClass left_hand("left_hand");
    //Connect to and configure the sensors
    left_hand.initBioTacSensors();

    while(ros::ok())
    { //Collect a batch of data
      bt_hand_msg = left_hand.collectBatch();
      biotac_pub.publish(bt_hand_msg);
      loop_rate.sleep();
    }
  }
  return 0;
}