csv_to_controller_main.cpp
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34 
35 /* Author: Dave Coleman
36  Desc: Records ros_control ControllerState datas to CSV for Matlab/etc analysis
37 */
38 
40 
41 // Command line arguments
42 #include <gflags/gflags.h>
43 
44 DEFINE_string(csv_path, "", "File location to load recoded data from");
45 DEFINE_string(joint_trajectory_action, "", "Which action server to send commands to");
46 DEFINE_string(controller_state_topic, "", "Where to subscribe the controller state");
47 
48 int main(int argc, char** argv)
49 {
50  google::SetVersionString("0.0.1");
51  google::SetUsageMessage("Utility to load commands from a CSV");
52  google::ParseCommandLineFlags(&argc, &argv, true);
53 
54  ros::init(argc, argv, "csv_to_controller");
55  ROS_INFO_STREAM_NAMED("main", "Starting CSVToController...");
56 
57  // Get file name
58  if (FLAGS_csv_path.empty())
59  {
60  ROS_ERROR_STREAM_NAMED("csv_to_controller","No file name passed in");
61  return 0;
62  }
63  ROS_INFO_STREAM_NAMED("csv_to_controller","Reading from file " << FLAGS_csv_path);
64 
65  // Allow the action server to recieve and send ros messages
67  spinner.start();
68 
69  ros_control_boilerplate::CSVToController converter(FLAGS_joint_trajectory_action, FLAGS_controller_state_topic);
70  converter.loadAndRunCSV(FLAGS_csv_path);
71 
72  ROS_INFO_STREAM_NAMED("main", "Shutting down.");
73  ros::shutdown();
74 
75  return 0;
76 }
#define ROS_ERROR_STREAM_NAMED(name, args)
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()
int main(int argc, char **argv)
DEFINE_string(csv_path,"","File location to load recoded data from")
ROSCPP_DECL void shutdown()
void loadAndRunCSV(const std::string &file_name)


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