keyboard_float_generator.cpp
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00034 
00036 
00037 #include <cstdio>
00038 #include <ros/ros.h>
00039 #include <std_msgs/Float64.h>
00040 
00041 #include <unistd.h>
00042 #include <termios.h>
00043 
00044 int main(int argc, char** argv)
00045 {
00046   // Setup terminal settings for getchar
00047   const int fd = fileno(stdin);
00048   termios prev_flags ;
00049   tcgetattr(fd, &prev_flags) ;
00050   termios flags ;
00051   tcgetattr(fd,&flags);
00052   flags.c_lflag &= ~ICANON;  // set raw (unset canonical modes)
00053   flags.c_cc[VMIN]  = 0;     // i.e. min 1 char for blocking, 0 chars for non-blocking
00054   flags.c_cc[VTIME] = 0;     // block if waiting for char
00055   tcsetattr(fd,TCSANOW,&flags);
00056 
00057   ros::init(argc, argv, "keyboard_float_generator");
00058 
00059   ros::NodeHandle nh;
00060 
00061   ros::Publisher pub = nh.advertise<std_msgs::Float64>("keyboard_float", 10);
00062 
00063   const double increment = .01;
00064 
00065   ROS_INFO("Press '=' to increment, and '-' to decrement");
00066 
00067   std_msgs::Float64 shift_val;
00068   shift_val.data = 0.0;
00069   while (nh.ok())
00070   {
00071     char c = getchar();
00072 
00073     bool should_publish = false;
00074 
00075 
00076     switch (c)
00077     {
00078       case '=': shift_val.data += increment;  should_publish = true; break;
00079       case '+': shift_val.data += increment;  should_publish = true; break;
00080       case '-': shift_val.data -= increment;  should_publish = true; break;
00081       default:
00082         usleep(100);
00083         break;
00084     }
00085 
00086     if (should_publish)
00087     {
00088       ROS_INFO("Publishing Float: % .3f", shift_val.data);
00089       pub.publish(shift_val);
00090     }
00091   }
00092 
00093   tcsetattr(fd,TCSANOW, &prev_flags) ;         // Undo any terminal changes that we made
00094 
00095   return 0;
00096 }


laser_joint_projector
Author(s): Vijay Pradeep
autogenerated on Fri Aug 28 2015 12:06:30