test_odom.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2008, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of the Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 #include <pr2_mechanism_controllers/Pose3D.h>
00036 #include <ros/node.h>
00037 #include <geometry_msgs/Twist.h>
00038 #include <nav_msgs/Odometry.h>
00039 #include <geometry_msgs/Quaternion.h>
00040 #include <iostream>
00041 #include <fstream>
00042 
00043 static int done = 0;
00044 
00045 void finalize(int donecare)
00046 {
00047   done = 1;
00048 }
00049 
00050 
00052 // Return the rotation in Euler angles
00053 libTF::Vector GetAsEuler(geometry_msgs::Quaternion quat)
00054 {
00055   libTF::Vector vec;
00056 
00057   double squ;
00058   double sqx;
00059   double sqy;
00060   double sqz;
00061 
00062 //  this->Normalize();
00063 
00064   squ = quat.w * quat.w;
00065   sqx = quat.x * quat.x;
00066   sqy = quat.y * quat.y;
00067   sqz = quat.z * quat.z;
00068 
00069   // Roll
00070   vec.x = atan2(2 * (quat.y*quat.z + quat.w*quat.x), squ - sqx - sqy + sqz);
00071 
00072   // Pitch
00073   vec.y = asin(-2 * (quat.x*quat.z - quat.w * quat.y));
00074 
00075   // Yaw
00076   vec.z = atan2(2 * (quat.x*quat.y + quat.w*quat.z), squ + sqx - sqy - sqz);
00077 
00078   return vec;
00079 }
00080 
00081 
00082 class test_run_base
00083 {
00084   public:
00085 
00086     test_run_base(){}; 
00087 
00088     ~test_run_base() {}
00089 
00090     nav_msgs::Odometry odom;
00091 
00092     void odomMsgReceived()
00093     {
00094     };
00095 
00096 };
00097 
00098 int main( int argc, char** argv )
00099 {
00100 
00101   /*********** Initialize ROS  ****************/
00102   ros::init(argc,argv);
00103   ros::Node *node = new ros::Node("test_run_base_controller"); 
00104 
00105   test_run_base tb;
00106 
00107   node->subscribe("odom",tb.odom,&test_run_base::odomMsgReceived,&tb,10);
00108 
00109   signal(SIGINT,  finalize);
00110   signal(SIGQUIT, finalize);
00111   signal(SIGTERM, finalize);
00112 
00113 
00114   /*********** Start moving the robot ************/
00115   geometry_msgs::Twist cmd;
00116   cmd.linear.x = 0;
00117   cmd.linear.y = 0;
00118   cmd.linear.z = 0;
00119   cmd.angular.x = 0;
00120   cmd.angular.y = 0;
00121   cmd.angular.z = 0;
00122 
00123   double run_time = 0;
00124   bool run_time_set = false;
00125   int file_num = 0;
00126 
00127   if(argc >= 2)
00128     cmd.linear.x = atof(argv[1]);
00129 
00130   if(argc >= 3)
00131     cmd.linear.y = atof(argv[2]);
00132 
00133   if(argc >= 4)
00134     cmd.angular.z = atof(argv[3]);
00135 
00136   if(argc >=5)
00137   { 
00138      run_time = atof(argv[4]);
00139      run_time_set = true;
00140   }
00141 
00142   if(argc ==6)
00143   {
00144      file_num = atoi(argv[5]);
00145   }
00146 
00147   node->advertise<geometry_msgs::Twist>("cmd_vel",10);
00148   sleep(1);
00149 
00150   libTF::Vector ang_rates;
00151   ros::Time start_time = ros::Time::now();
00152   ros::Duration sleep_time = ros::Duration().fromSec(0.01);
00153 
00154   std::ofstream odom_log_file;
00155   odom_log_file.open("odom_log.txt");
00156 
00157 
00158   while(!done)
00159   {
00160      ros::Duration delta_time = ros::Time::now() - start_time;
00161 
00162      if(run_time_set && delta_time.toSec() > run_time)
00163         break;
00164 
00165      odom_log_file << tb.odom.pose.pose.position.x <<  " " << tb.odom.pose.pose.position.y << " " << tf::getYaw(tb.odom.pose.pose.orientation) << " " << tb.odom.twist.twist.linear.x <<  " " << tb.odom.twist.twist.linear.y << " " << tb.odom.twist.twist.angulat.z << " " << tb.odom.header.stamp.sec + tb.odom.header.stamp.nsec/1.0e9 << std::endl;
00166 
00167      cout << endl << "odometry:: " << endl << "velocity:" << endl << " x:" << tb.odom.twist.twist.linear.x <<  endl << " y:" << tb.odom.twist.twist.linear.y << endl << " omega:" << tb.odom.twist.twist.angular.z << std::endl;
00168     node->publish("cmd_vel",cmd);
00169     sleep_time.sleep();
00170   }
00171 
00172   node->unsubscribe("odom");
00173   node->unadvertise("cmd_vel");
00174 
00175   odom_log_file.close();
00176 
00177   
00178 }


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Sat Jun 8 2019 20:49:34