csv_to_controller_main.cpp

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/* Author: Dave Coleman
   Desc:   Records ros_control ControllerState datas to CSV for Matlab/etc analysis
*/

#include <ros_control_boilerplate/tools/csv_to_controller.h>

// Command line arguments
#include <gflags/gflags.h>

DEFINE_string(csv_path, "", "File location to load recoded data from");
DEFINE_string(joint_trajectory_action, "", "Which action server to send commands to");
DEFINE_string(controller_state_topic, "", "Where to subscribe the controller state");

int main(int argc, char** argv)
{
  google::SetVersionString("0.0.1");
  google::SetUsageMessage("Utility to load commands from a CSV");
  google::ParseCommandLineFlags(&argc, &argv, true);

  ros::init(argc, argv, "csv_to_controller");
  ROS_INFO_STREAM_NAMED("main", "Starting CSVToController...");

  // Get file name
  if (FLAGS_csv_path.empty())
  {
    ROS_ERROR_STREAM_NAMED("csv_to_controller","No file name passed in");
    return 0;
  }
  ROS_INFO_STREAM_NAMED("csv_to_controller","Reading from file " << FLAGS_csv_path);

  // Allow the action server to recieve and send ros messages
  ros::AsyncSpinner spinner(2);
  spinner.start();

  ros_control_boilerplate::CSVToController converter(FLAGS_joint_trajectory_action, FLAGS_controller_state_topic);
  converter.loadAndRunCSV(FLAGS_csv_path);

  ROS_INFO_STREAM_NAMED("main", "Shutting down.");
  ros::shutdown();

  return 0;
}