roomba_sonar.cpp

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* Author: Gonçalo Cabrita on 18/10/2010
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#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include <string.h>

#include "ardusim/Ardusim.h"

using namespace ardusim;

int main(int argc, char** argv)
{
        ros::init(argc, argv, "roomba_sonar_node");
        
        ros::NodeHandle n;
        ros::NodeHandle pn("~");
        
        std::vector<lse_sensor_msgs::Range> range_msgs;
        
        ros::Publisher range_pub = n.advertise<lse_sensor_msgs::Range>("/sonars", 1);
        
        // Read of type c-string/char buffer
        std::string port;
        pn.param<std::string>("port", port, "/dev/ttyUSB1");
        std::string frame_id;
        pn.param<std::string>("frame_id", frame_id, "/base_sonar");

        Ardusim ardusim(port);
        
        int requests[] = {ARDUSIM_RANGE};
        ardusim.setRequests(requests, 1);

        ros::Rate r(10);
        while(ros::ok())
        {
                if(ardusim.getSensorData(100))
                {
                        if(ardusim.getRange(&range_msgs))
                        {
                                range_msgs[0].header.frame_id = frame_id;
                                range_msgs[0].header.frame_id += "_0";
                                range_msgs[1].header.frame_id = frame_id;
                                range_msgs[1].header.frame_id += "_1";
                                range_msgs[2].header.frame_id = frame_id;
                                range_msgs[2].header.frame_id += "_2";
                                range_msgs[3].header.frame_id = frame_id;
                                range_msgs[3].header.frame_id += "_3";
                                range_msgs[4].header.frame_id = frame_id;
                                range_msgs[4].header.frame_id += "_4";
                        
                                for(int i=0 ; i<range_msgs.size() ; i++)
                                {
                                        range_msgs[i].field_of_view = 0.523598776;      // 30 degress
                                        range_msgs[i].min_range = 0.03;
                                        range_msgs[i].max_range = 2.00;
                                        range_pub.publish(range_msgs[i]);
                                }
                        }
                }
                
                r.sleep();
        }

        return(0);
}

// EOF