demo_not_working.cpp

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/*********************************************************************
*
* Software License Agreement (BSD License)
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*  Copyright (c) 2010, ISR University of Coimbra.
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* Author: Gonçalo Cabrita and Pedro Sousa on 17/11/2010
*********************************************************************/
#include <vector>
#include <string>

#include <ros/ros.h>
#include <tf/tf.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <geometry_msgs/Pose2D.h>
#include <lse_sensor_msgs/Nostril.h>
#include <roomba_500_series/Battery.h>
#include <roomba_500_series/GoDockAction.h>
#include <geometry_msgs/Twist.h>

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;

bool nextGoal;
bool needToBackUp;

roomba_500_series::Battery battery;

void goalDoneCallback(const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
{
        ROS_INFO("Goal is done!");
        if(state.state_ == actionlib::SimpleClientGoalState::SUCCEEDED) nextGoal = true;
        else if(state.state_ == actionlib::SimpleClientGoalState::ABORTED) needToBackUp = true;
}

void goalActiveCallback()
{
        //ROS_INFO("Goal active! Hurray!");
}

void goalFeedbackCallback(const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
{
        //ROS_INFO("Getting feedback! How cool is that?");
}

void noseCallback(const lse_sensor_msgs::Nostril::ConstPtr& nose)
{
        
}

void batteryCallback(const roomba_500_series::Battery::ConstPtr& batt)
{
        battery.level = batt->level;
        battery.dock = batt->dock;
}

int main(int argc, char** argv)
{
        ros::init(argc, argv, "fctuc_open_day_demo");

        ROS_INFO("Welcome to FCTUC Open Day Demo!");
        
        ros::NodeHandle n;
        
        //ros::Publisher cmd_vel_pub  = n.advertise<geometry_msgs::Twist>("/cmd_vel", 50);
        
        ros::Subscriber nose_sub = n.subscribe("/nose", 20, noseCallback);
        ros::Subscriber batt_sub = n.subscribe("/battery", 20, batteryCallback);
        
        /*actionlib::SimpleActionClient<roomba_500_series::GoDockAction> gd("godock", true);
        ROS_INFO("Waiting for the godock action server to come online... Connecting the roomba would be a good starting point!");
        gd.waitForServer();
        ROS_INFO("Found the godock action server! Moving on...");*/
        
        std::string tf_prefix;
        n.param<std::string>("tf_prefix", tf_prefix, "");
        
        std::string file_path;
        n.param<std::string>("demo/file_name", file_path, "demo.goal");
        
        FILE * goalsFile;
        goalsFile = fopen(file_path.c_str(), "r");
        if(goalsFile == NULL)
        {
                ROS_INFO("Cannot open file %s", file_path.c_str());
                ROS_BREAK();    
        }
        
        std::vector<geometry_msgs::Pose2D> targets;
        std::vector<geometry_msgs::Pose2D>::iterator target;
        
        /*geometry_msgs::Pose2D myDock;
        myDock.x = 1.0;
        myDock.y = 1.0;
        myDock.theta = 0.0;*/
        
        geometry_msgs::Pose2D pose;
        // Might come in handy... some day :P
        float z, qx, qy, qz, qw;
        while(!feof(goalsFile))
        {
                fscanf(goalsFile, "Frame:/map, Position(%f, %f, %f), Orientation(%f, %f, %f, %f) = Angle: %lf\n", &(pose.x), &(pose.y), &z, &qx, &qy, &qz, &qw, &(pose.theta));
                targets.push_back(pose);
        }
        
        // Tell the action client that we want to spin a thread by default
        MoveBaseClient ac("move_base", true);
        // Wait for the action server to come up
        ROS_INFO("Waiting for the move_base action server to come online... Forgot to launch move_base now did we?");
        while(!ac.waitForServer(ros::Duration(5.0))){;}
        ROS_INFO("Found the move_base action server! Moving on...");

        battery.level = 100.0;
        battery.dock = false;
        needToBackUp = false;
        nextGoal = false;
        bool sendGoal = true;
        bool docking = false;
        int backUpCounter = 0;
        target = targets.begin();
        ROS_INFO("Lets have some fun...");
        
        ros::Rate r(10);
        while(ros::ok())
        {       
                // If we are trapped or we are recharged back up a lil bit
                /*if(needToBackUp)// || (battery.level>80.0 && battery.dock))
                {
                        needToBackUp = true;
                        sendGoal = false;
                        nextGoal = false;
                        if(backUpCounter==0)
                        {
                                ROS_INFO("The wall is too close! I need to do some backing up...");
                                // Move the robot back...
                                geometry_msgs::Twist cmd_vel;
                                cmd_vel.linear.x = -0.1;
                                cmd_vel.angular.z = 0.0;
                                cmd_vel_pub.publish(cmd_vel);
                        }
                        
                        if(backUpCounter==50)
                        {
                                // Turn the robot around...
                                geometry_msgs::Twist cmd_vel;
                                cmd_vel.linear.x = 0.0;
                                cmd_vel.angular.z = 1.0;
                                cmd_vel_pub.publish(cmd_vel);
                        }
                        
                        if(backUpCounter==80)u
                        {
                                // Stop the robot...
                                geometry_msgs::Twist cmd_vel;
                                cmd_vel.linear.x = 0.0;
                                cmd_vel.angular.z = 0.0;
                                cmd_vel_pub.publish(cmd_vel);
                                
                                ROS_INFO("Done backing up, now on with my life!");
                                
                                // Reset variables
                                backUpCounter = 0;
                                sendGoal = true;
                                needToBackUp = false;
                        }
                        
                        backUpCounter++;
                }*/
        
                // Send the next goal!
                if(nextGoal)
                {
                        // Run the docking proceadure!
                        if(docking)
                        {
                                ROS_INFO("Lets see if I can bullseye the dock...");
                                
                                /*ac.cancelAllGoals();
                        
                                roomba_500_series::GoDockGoal goal;
                                goal.timeout = ros::Duration(30.0);
                                gd.sendGoal(goal);
                        
                                gd.waitForResult(ros::Duration(30.0));

                                if(!battery.dock) ROS_ERROR("I could not dock! No I'm going to run out of battery and fade away! Help!!!");
                                else ROS_INFO("Got it! And now for some tasty battery juice!");*/
                                docking = false;
                        }
                        else
                        {
                                target++;
                                if(target==targets.end()) target=targets.begin();
                        }
                        sendGoal = true;
                        nextGoal = false;
                }
        
                // Send a goal to the action client
                if(sendGoal || (battery.level<50.0 && !battery.dock && !docking))
                {
                        std::string frame_name = tf_prefix;
                        move_base_msgs::MoveBaseGoal goal;
                
                        // Send a goal to the robot
                        goal.target_pose.header.frame_id = frame_name.append("/map");
                        goal.target_pose.header.stamp = ros::Time::now();
                
                        // If we need to recharge
                        if(battery.level<50.0 && !battery.dock)
                        {
                                /*ROS_INFO("Going for docking station... Battery is at %.0f%%", battery.level);
                                goal.target_pose.pose.position.x = myDock.x;
                                goal.target_pose.pose.position.y = myDock.y;
                                goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(myDock.theta);
                                docking = true;*/
                        }
                        else
                        {
                                ROS_INFO("Sending next goal... How long do we have to keep this up?");
                                goal.target_pose.pose.position.x = target->x;
                                goal.target_pose.pose.position.y = target->y;
                                goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(target->theta);
                        }
                        
                        sendGoal = false;
                        ac.sendGoal(goal, boost::bind(&goalDoneCallback, _1, _2), boost::bind(&goalActiveCallback), boost::bind(&goalFeedbackCallback, _1));
                }
                
                // If you smell something do interactive stuff!
                //if()
                
                ros::spinOnce();
                r.sleep();
        }

        ROS_INFO("Exiting FCTUC Open Day Demo...");

        return 0;
}