robot_information_parser.cpp

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// Copyright 1996-2020 Cyberbotics Ltd.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#include <signal.h>
#include "ros/ros.h"
 
// include files to use services like 'robot_get_time'.
// srv files needed to use webots service can be found in the /srv folder where you found this example.
// for more info on how to create and use services with ROS refer to their website: http://wiki.ros.org/
// here 'webots_ros' is the name of the package used for this node. Replace it by your own package.
#include <webots_ros/robot_get_device_list.h>
 
#include <webots_ros/get_int.h>
#include <webots_ros/get_string.h>
 
// include files to use standard message types in topic
// Webots only use basic messages type defined in ROS library
#include <std_msgs/String.h>
 
#define TIME_STEP 32
 
static int controllerCount;
static std::vector<std::string> controllerList;
 
// catch names of the controllers availables on ROS network
void controllerNameCallback(const std_msgs::String::ConstPtr &name) {
  controllerCount++;
  controllerList.push_back(name->data);
  ROS_INFO("Controller #%d: %s.", controllerCount, controllerList.back().c_str());
}
 
void quit(int sig) {
  ROS_INFO("User stopped the 'robot_information_parser' node.");
  ros::shutdown();
  exit(0);
}
 
int main(int argc, char **argv) {
  std::string controllerName;
  std::vector<std::string> deviceList;
  // create a node named 'robot_information_parser' on ROS network
  ros::init(argc, argv, "robot_information_parser", ros::init_options::AnonymousName);
  ros::NodeHandle n;
 
  signal(SIGINT, quit);
 
  // subscribe to the topic model_name to get the list of availables controllers
  ros::Subscriber nameSub = n.subscribe("model_name", 100, controllerNameCallback);
  while (controllerCount == 0 || controllerCount < nameSub.getNumPublishers()) {
    ros::spinOnce();
    ros::spinOnce();
    ros::spinOnce();
  }
  ros::spinOnce();
 
  // if there is more than one controller available, it let the user choose
  if (controllerCount == 1)
    controllerName = controllerList[0];
  else {
    int wantedController = 0;
    std::cout << "Choose the # of the controller you want to use:\n";
    std::cin >> wantedController;
    if (1 <= wantedController && wantedController <= controllerCount)
      controllerName = controllerList[wantedController - 1];
    else {
      ROS_ERROR("Invalid number for controller choice.");
      return 1;
    }
  }
  // leave topic once it is not necessary anymore
  nameSub.shutdown();
 
  // call get_type and get_model services to get more general information about the robot
  ros::ServiceClient getTypeClient = n.serviceClient<webots_ros::get_int>(controllerName + "/robot/get_type");
  webots_ros::get_int getTypeSrv;
  ros::ServiceClient getModelClient = n.serviceClient<webots_ros::get_string>(controllerName + "/robot/get_model");
  webots_ros::get_string getModelSrv;
 
  getTypeClient.call(getTypeSrv);
  if (getTypeSrv.response.value == 40)
    ROS_INFO("This controller is on a basic robot.");
  else
    ROS_INFO("This controller is on a supervisor robot.");
 
  if (getModelClient.call(getModelSrv)) {
    if (!getModelSrv.response.value.empty())
      ROS_INFO("The model of this robot is %s.", getModelSrv.response.value.c_str());
    else
      ROS_ERROR("The robot doesn't seems to have a model.");
  } else
    ROS_ERROR("Could not get the model of this robot.");
 
  // call deviceList service to get the list of the name of the devices available on the controller and print it
  // the deviceListSrv object contains 2 members: request and response. Their fields are described in the corresponding .srv
  // file
  ros::ServiceClient deviceListClient =
    n.serviceClient<webots_ros::robot_get_device_list>(controllerName + "/robot/get_device_list");
  webots_ros::robot_get_device_list deviceListSrv;
 
  if (deviceListClient.call(deviceListSrv)) {
    deviceList = deviceListSrv.response.list;
    ROS_INFO("The controller has %lu devices availables:", deviceList.size());
    for (unsigned int i = 0; i < deviceList.size(); i++)
      ROS_INFO("Device [%d]: %s.", i, deviceList[i].c_str());
  } else
    ROS_ERROR("Failed to call service deviceList.");
}