controller_to_csv_main.cpp

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/* Author: Dave Coleman
   Desc:   Records ros_control ControllerState data to CSV for Matlab/etc analysis
*/

#include <ros_control_boilerplate/tools/controller_to_csv.h>

// Command line arguments
#include <gflags/gflags.h>

DEFINE_string(csv_path, "/tmp/recorded_trajectory_1.csv", "File location to save recoded data to");
DEFINE_string(topic, "/robot/position_trajectory_controller/state", "ROS topic to subscribe to");

int main(int argc, char** argv)
{
  google::SetVersionString("0.0.1");
  google::SetUsageMessage("Utility to record controller topic to a CSV");
  google::ParseCommandLineFlags(&argc, &argv, true);

  ros::init(argc, argv, "controller_to_csv", ros::init_options::AnonymousName);
  ROS_INFO_STREAM_NAMED("main", "Starting ControllerToCSV...");

  // Allow the action server to recieve and send ros messages
  ros::AsyncSpinner spinner(2);
  spinner.start();

  const std::string topic = FLAGS_topic;
  const std::string csv_path = FLAGS_csv_path;
  ros_control_boilerplate::ControllerToCSV converter(topic);
  converter.startRecording(csv_path);

  ROS_INFO_STREAM_NAMED("main","Type Ctrl-C to end and save");
  ros::spin();

  ROS_INFO_STREAM_NAMED("main", "Shutting down.");
  ros::shutdown();

  return 0;
}