teleop_nao_joy_node.cpp
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00001 /*
00002  * Nao Joystick / Gamepad teleoperation
00003  *
00004  * Copyright 2009-2012 Armin Hornung, University of Freiburg
00005  * http://www.ros.org/wiki/nao_teleop
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
00010  *     * Redistributions of source code must retain the above copyright
00011  *       notice, this list of conditions and the following disclaimer.
00012  *     * Redistributions in binary form must reproduce the above copyright
00013  *       notice, this list of conditions and the following disclaimer in the
00014  *       documentation and/or other materials provided with the distribution.
00015  *     * Neither the name of the University of Freiburg nor the names of its
00016  *       contributors may be used to endorse or promote products derived from
00017  *       this software without specific prior written permission.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00026  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029  * POSSIBILITY OF SUCH DAMAGE.
00030  */
00031 
00032 #include <nao_teleop/teleop_nao_joy.h>
00033 
00034 using namespace nao_teleop;
00035 int main(int argc, char** argv)
00036 {
00037   ros::init(argc, argv, "teleop_nao");
00038   TeleopNaoJoy teleopNao;
00039   teleopNao.subscribeToJoystick();
00040 
00041   // rate of publishing motion commands (too high stresses the Nao's CPU)
00042   double publishRate = 10.0;
00043   teleopNao.privateNh.param("motion_publish_rate", publishRate, publishRate);
00044   ros::Rate pubRate(publishRate);
00045 
00046   while(teleopNao.nh.ok()){
00047     ros::spinOnce();
00048 
00049     teleopNao.pubMsg();
00050     pubRate.sleep();
00051   }
00052 
00053   return 0;
00054 }
00055 
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nao_teleop
Author(s): Armin Hornung
autogenerated on Tue Oct 15 2013 10:07:17