rawlog_play.cpp

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/* +---------------------------------------------------------------------------+
   | rawlog_play                                                               |
   |   Copyright (C) 2010-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   | rawlog_play is free software: you can redistribute it and/or modify       |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   rawlog_play is distributed in the hope that it will be useful,          |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with rawlog_play.  If not, see <http://www.gnu.org/licenses/>.  |
   |                                                                           |
   +---------------------------------------------------------------------------+ */

/* Author: Jose Luis Blanco     */

#include <ros/ros.h>
#include <list>
#include <sstream>

#include <std_msgs/String.h>

// My own services:
#include <rawlog_play/SetRawlogFile.h>
#include <rawlog_play/Play.h>
#include <rawlog_play/Pause.h>
#include <rawlog_play/Resume.h>

// mrpt<->ros converter classes
#include <mrpt_bridge/laser_scan.h>

#include <mrpt/utils/CFileGZInputStream.h>

using namespace std;
using namespace mrpt::utils;


/*************************************************
                        Global vars
*************************************************/
string              rawlog_fil;
CFileGZInputStream  rawlog_fil_stream;

/*************************************************
 Service: SetRawlogFile
*************************************************/
bool srv_setrawlogfile(rawlog_play::SetRawlogFile::Request  &req,
         rawlog_play::SetRawlogFile::Response &res )
{
//  ROS_INFO("sending back response: [%ld]", (long int)res.sum);
  return true;
}


/*************************************************
                   main
*************************************************/
int main(int argc, char **argv)
{
        // Initialize ROS
        ros::init(argc, argv, "rawlog_play");

        // Read parameters
        ros::NodeHandle private_nh_("~");
        if (!private_nh_.getParam(string("rawlog_file"),rawlog_fil))
        {
                // None provided.
        }

        // NodeHandle is the main access point to communications with the ROS system.
        ros::NodeHandle node;

        // Create services:
        ros::ServiceServer srv1 = node.advertiseService("set_rawlog_file", srv_setrawlogfile);


        // The list of published topics:
        std::list<ros::Publisher> pub_topics;
        pub_topics.push_back( node.advertise<std_msgs::String>("chatter", 1000) );

        ros::Rate loop_rate(1000);  // max. loop rate in Hz

        while (ros::ok())
        {
                std_msgs::String msg;

                std::stringstream ss;
                ss << "hello world ";
                msg.data = ss.str();

                ROS_INFO("%s", msg.data.c_str());

                pub_topics.begin()->publish(msg);

                // End of loop.
                ros::spinOnce();
                loop_rate.sleep();
        }


        return 0; // all ok.
}