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00001 /* 00002 * Copyright (c) 2011, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include <ros/ros.h> 00031 #include <interactive_markers/interactive_marker_server.h> 00032 #include <string.h> 00033 #include <geometry_msgs/Twist.h> 00034 #include <geometry_msgs/Pose.h> 00035 #include <tf/tf.h> 00036 00037 using namespace visualization_msgs; 00038 00039 class TurtlebotMarkerServer 00040 { 00041 public: 00042 TurtlebotMarkerServer() 00043 : nh("~"), server("turtlebot_marker_server") 00044 { 00045 std::string cmd_vel_topic; 00046 00047 nh.param<std::string>("link_name", link_name, "/base_link"); 00048 nh.param<double>("linear_scale", linear_scale, 1.0); 00049 nh.param<double>("angular_scale", angular_scale, 2.2); 00050 00051 vel_pub = nh.advertise<geometry_msgs::Twist>("/cmd_vel", 1); 00052 createInteractiveMarkers(); 00053 00054 ROS_INFO("[turtlebot_marker_server] Initialized."); 00055 } 00056 00057 void processFeedback( 00058 const InteractiveMarkerFeedbackConstPtr &feedback ); 00059 00060 private: 00061 void createInteractiveMarkers(); 00062 00063 ros::NodeHandle nh; 00064 ros::Publisher vel_pub; 00065 interactive_markers::InteractiveMarkerServer server; 00066 00067 double linear_scale; 00068 double angular_scale; 00069 00070 std::string link_name; 00071 }; 00072 00073 void TurtlebotMarkerServer::processFeedback( 00074 const InteractiveMarkerFeedbackConstPtr &feedback ) 00075 { 00076 // Handle angular change (yaw is the only direction in which you can rotate) 00077 double yaw = tf::getYaw(feedback->pose.orientation); 00078 00079 geometry_msgs::Twist vel; 00080 vel.angular.z = angular_scale*yaw; 00081 vel.linear.x = linear_scale*feedback->pose.position.x; 00082 00083 vel_pub.publish(vel); 00084 00085 // Make the marker snap back to turtlebot 00086 server.setPose("turtlebot_marker", geometry_msgs::Pose()); 00087 00088 server.applyChanges(); 00089 } 00090 00091 void TurtlebotMarkerServer::createInteractiveMarkers() 00092 { 00093 // create an interactive marker for our server 00094 InteractiveMarker int_marker; 00095 int_marker.header.frame_id = link_name; 00096 int_marker.name = "turtlebot_marker"; 00097 //int_marker.description = "Move the turtlebot"; 00098 00099 InteractiveMarkerControl control; 00100 00101 control.orientation_mode = InteractiveMarkerControl::FIXED; 00102 control.orientation.w = 1; 00103 control.orientation.x = 1; 00104 control.orientation.y = 0; 00105 control.orientation.z = 0; 00106 control.name = "move_x"; 00107 control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS; 00108 int_marker.controls.push_back(control); 00109 00110 control.orientation.w = 1; 00111 control.orientation.x = 0; 00112 control.orientation.y = 1; 00113 control.orientation.z = 0; 00114 control.name = "rotate_z"; 00115 00116 control.interaction_mode = InteractiveMarkerControl::MOVE_ROTATE; 00117 //control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS; 00118 int_marker.controls.push_back(control); 00119 00120 // Commented out for non-holonomic turtlebot. If holonomic, can move in y. 00121 /*control.orientation.w = 1; 00122 control.orientation.x = 0; 00123 control.orientation.y = 0; 00124 control.orientation.z = 1; 00125 control.name = "move_y"; 00126 control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS; 00127 int_marker.controls.push_back(control);*/ 00128 00129 server.insert(int_marker, boost::bind( &TurtlebotMarkerServer::processFeedback, this, _1 )); 00130 00131 server.applyChanges(); 00132 } 00133 00134 00135 int main(int argc, char** argv) 00136 { 00137 ros::init(argc, argv, "turtlebot_marker_server"); 00138 TurtlebotMarkerServer turtleserver; 00139 00140 ros::spin(); 00141 }