twist_tester.cpp

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// ROS and messages
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <dbw_mkz_msgs/TwistCmd.h>

// Dynamic Reconfigure
#include <dynamic_reconfigure/server.h>
#include <dbw_mkz_twist_controller/TwistTestConfig.h>

// Global variables
dbw_mkz_twist_controller::TwistTestConfig cfg_;
ros::Publisher pub_twist, pub_twist2;

// Static functions
static double mphToMps(double mph) { return mph * 0.44704; }
static double kphToMps(double kph) { return kph * 0.277778; }
static double yawRateFromRadius(double speed, double radius) {
  return radius != 0.0 ? speed / radius : 0.0;
}

// Dynamic Reconfigure callback
void reconfig(dbw_mkz_twist_controller::TwistTestConfig& config, uint32_t level)
{
  cfg_ = config;
}

void timerCallback(const ros::TimerEvent& event)
{
  if (cfg_.publish) {
    dbw_mkz_msgs::TwistCmd cmd;
    switch (cfg_.speed_units) {
      default:
      case dbw_mkz_twist_controller::TwistTest_SPEED_MPS:
        cmd.twist.linear.x = cfg_.speed;
        break;
      case dbw_mkz_twist_controller::TwistTest_SPEED_MPH:
        cmd.twist.linear.x = mphToMps(cfg_.speed);
        break;
      case dbw_mkz_twist_controller::TwistTest_SPEED_KPH:
        cmd.twist.linear.x = kphToMps(cfg_.speed);
        break;
    }
    switch (cfg_.yaw_method) {
      default:
      case dbw_mkz_twist_controller::TwistTest_YAW_RATE:
        cmd.twist.angular.z = cfg_.yaw_rate;
        break;
      case dbw_mkz_twist_controller::TwistTest_YAW_RADIUS:
        cmd.twist.angular.z = yawRateFromRadius(cmd.twist.linear.x, cfg_.yaw_radius);
        break;
    }
    if (cfg_.use_limits) {
      cmd.accel_limit = cfg_.accel_max;
      cmd.decel_limit = cfg_.decel_max;
      pub_twist2.publish(cmd);
    } else {
      pub_twist.publish(cmd.twist);
    }
  }
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "twist_tester");
  ros::NodeHandle n;

  // Dynamic Reconfigure
  dynamic_reconfigure::Server<dbw_mkz_twist_controller::TwistTestConfig> srv;
  srv.setCallback(boost::bind(reconfig, _1, _2));

  // Publishers
  pub_twist = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
  pub_twist2 = n.advertise<dbw_mkz_msgs::TwistCmd>("cmd_vel_with_limits", 1);

  // Timer
  ros::Timer timer = n.createTimer(ros::Duration(1/20.0), timerCallback);

  // Handle callbacks
  ros::spin();

  return 0;
}