controller_to_csv_main.cpp
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34 
35 /* Author: Dave Coleman
36  Desc: Records ros_control ControllerState data to CSV for Matlab/etc analysis
37 */
38 
40 
41 // Command line arguments
42 #include <gflags/gflags.h>
43 
44 DEFINE_string(csv_path, "/tmp/recorded_trajectory_1.csv", "File location to save recoded data to");
45 DEFINE_string(topic, "/robot/position_trajectory_controller/state", "ROS topic to subscribe to");
46 
47 int main(int argc, char** argv)
48 {
49  google::SetVersionString("0.0.1");
50  google::SetUsageMessage("Utility to record controller topic to a CSV");
51  google::ParseCommandLineFlags(&argc, &argv, true);
52 
53  ros::init(argc, argv, "controller_to_csv", ros::init_options::AnonymousName);
54  ROS_INFO_STREAM_NAMED("main", "Starting ControllerToCSV...");
55 
56  // Allow the action server to recieve and send ros messages
58  spinner.start();
59 
60  const std::string topic = FLAGS_topic;
61  const std::string csv_path = FLAGS_csv_path;
63  converter.startRecording(csv_path);
64 
65  ROS_INFO_STREAM_NAMED("main","Type Ctrl-C to end and save");
66  ros::spin();
67 
68  ROS_INFO_STREAM_NAMED("main", "Shutting down.");
69  ros::shutdown();
70 
71  return 0;
72 }
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
#define ROS_INFO_STREAM_NAMED(name, args)
void spinner()
ROSCPP_DECL void spin()
DEFINE_string(csv_path,"/tmp/recorded_trajectory_1.csv","File location to save recoded data to")
ROSCPP_DECL void shutdown()
void startRecording(const std::string &file_name)
Start the data collection.
int main(int argc, char **argv)


ros_control_boilerplate
Author(s): Dave Coleman
autogenerated on Sat Jun 8 2019 18:06:49