test_run_base_controller.cpp

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#include <pr2_mechanism_controllers/Pose3D.h>
#include <ros/node.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Quaternion.h>

static int done = 0;

void finalize(int donecare)
{
  done = 1;
}


// Return the rotation in Euler angles
libTF::Vector GetAsEuler(geometry_msgs::Quaternion quat)
{
  libTF::Vector vec;

  double squ;
  double sqx;
  double sqy;
  double sqz;

//  this->Normalize();

  squ = quat.w * quat.w;
  sqx = quat.x * quat.x;
  sqy = quat.y * quat.y;
  sqz = quat.z * quat.z;

  // Roll
  vec.x = atan2(2 * (quat.y*quat.z + quat.w*quat.x), squ - sqx - sqy + sqz);

  // Pitch
  vec.y = asin(-2 * (quat.x*quat.z - quat.w * quat.y));

  // Yaw
  vec.z = atan2(2 * (quat.x*quat.y + quat.w*quat.z), squ + sqx - sqy - sqz);

  return vec;
}


class test_run_base
{
  public:

    test_run_base():subscriber_connected(0){}; 

    ~test_run_base() {}

    nav_msgs::Odometry ground_truth;

    nav_msgs::Odometry odom;

    int subscriber_connected;

    void subscriber_connect()
    {
      subscriber_connected = 1;
    }

    void odomMsgReceived()
    {
//       cout << "Odom:: (" << ground_truth.pos.position.x << "), (" <<  ground_truth.pos.orientation.x << ")" << std::endl;  
    };

    void groundTruthMsgReceived()
    {
//       cout << "Odom:: (" << ground_truth.pos.position.x << "), (" <<  ground_truth.pos.orientation.x << ")" << std::endl;  
    };
};

int main( int argc, char** argv )
{

  /*********** Initialize ROS  ****************/
  ros::init(argc,argv);
  ros::Node *node = new ros::Node("test_run_base_controller"); 


  // receive messages from 2dnav stack
  nav_msgs::Odometry ground_truth;

  test_run_base tb;

  node->subscribe("base_pose_ground_truth",tb.ground_truth,&test_run_base::groundTruthMsgReceived,&tb,10);

  node->subscribe("odom",tb.odom,&test_run_base::odomMsgReceived,&tb,10);

  signal(SIGINT,  finalize);
  signal(SIGQUIT, finalize);
  signal(SIGTERM, finalize);


  /*********** Start moving the robot ************/
  geometry_msgs::Twist cmd;
  cmd.linear.x = 0;
  cmd.linear.y = 0;
  cmd.linear.z = 0;
  cmd.angular.x = 0;
  cmd.angular.y = 0;
  cmd.angular.z = 0;

  double run_time = 0;
  bool run_time_set = false;
  int file_num = 0;

  if(argc >= 2)
    cmd.linear.x = atof(argv[1]);

  if(argc >= 3)
    cmd.linear.y = atof(argv[2]);

  if(argc >= 4)
    cmd.angular.z = atof(argv[3]);

  if(argc ==5)
  { 
     run_time = atof(argv[4]);
     run_time_set = true;
  }
  node->advertise<geometry_msgs::Twist>("cmd_vel",1);
  sleep(1);
  node->publish("cmd_vel",cmd);
  sleep(1);

  libTF::Vector ground_truth_angles;
  ros::Time start_time = ros::Time::now();
  ros::Duration sleep_time(0.01);
  while(!done)
  {
     ros::Duration delta_time = ros::Time::now() - start_time;
     cout << "Sending out command " << cmd.linear.x << " " << cmd.linear.y << " " << cmd.angular.z  << endl;
     if(run_time_set && delta_time.toSec() > run_time)
        break;
    //   ang_rates = GetAsEuler(tb.ground_truth.vel.ang_vel);
     ground_truth_angles = GetAsEuler(tb.ground_truth.pose.pose.orientation);
     cout << "g:: " << tb.ground_truth.twist.twist.linear.x <<  " " << tb.ground_truth.twist.twist.linear.y << " "  << tb.ground_truth.twist.twist.angular.z  << " " << tb.ground_truth.pose.pose.position.x << " " << tb.ground_truth.pose.pose.position.y <<  " " << ground_truth_angles.z << " " <<  tb.ground_truth.header.stamp.sec + tb.ground_truth.header.stamp.nsec/1.0e9 << std::endl;
    cout << "o:: " << tb.odom.twist.twist.linear.x <<  " " << tb.odom.twist.twist.linear.y << " " << tb.odom.twist.twist.angular.z << " " << tb.odom.pose.pose.position.x <<  " " << tb.odom.pose.pose.position.y << " " << tf::getYaw(tb.odom.pose.pose.orientation) << " " << tb.odom.header.stamp.sec + tb.odom.header.stamp.nsec/1.0e9 << std::endl;
    //    cout << delta_time.toSec() << "  " << run_time << endl;
    node->publish("cmd_vel",cmd);
    sleep_time.sleep();
  }

  
}