csv_to_controller_main.cpp
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00034 
00035 /* Author: Dave Coleman
00036    Desc:   Records ros_control ControllerState datas to CSV for Matlab/etc analysis
00037 */
00038 
00039 #include <ros_control_boilerplate/tools/csv_to_controller.h>
00040 
00041 // Command line arguments
00042 #include <gflags/gflags.h>
00043 
00044 DEFINE_string(csv_path, "", "File location to load recoded data from");
00045 DEFINE_string(joint_trajectory_action, "", "Which action server to send commands to");
00046 DEFINE_string(controller_state_topic, "", "Where to subscribe the controller state");
00047 
00048 int main(int argc, char** argv)
00049 {
00050   google::SetVersionString("0.0.1");
00051   google::SetUsageMessage("Utility to load commands from a CSV");
00052   google::ParseCommandLineFlags(&argc, &argv, true);
00053 
00054   ros::init(argc, argv, "csv_to_controller");
00055   ROS_INFO_STREAM_NAMED("main", "Starting CSVToController...");
00056 
00057   // Get file name
00058   if (FLAGS_csv_path.empty())
00059   {
00060     ROS_ERROR_STREAM_NAMED("csv_to_controller","No file name passed in");
00061     return 0;
00062   }
00063   ROS_INFO_STREAM_NAMED("csv_to_controller","Reading from file " << FLAGS_csv_path);
00064 
00065   // Allow the action server to recieve and send ros messages
00066   ros::AsyncSpinner spinner(2);
00067   spinner.start();
00068 
00069   ros_control_boilerplate::CSVToController converter(FLAGS_joint_trajectory_action, FLAGS_controller_state_topic);
00070   converter.loadAndRunCSV(FLAGS_csv_path);
00071 
00072   ROS_INFO_STREAM_NAMED("main", "Shutting down.");
00073   ros::shutdown();
00074 
00075   return 0;
00076 }


ros_control_boilerplate
Author(s): Dave Coleman
autogenerated on Sun Apr 24 2016 04:39:29