pose_reader.cpp

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* Author: Gonçalo Cabrita and Pedro Sousa on 17/11/2010
*********************************************************************/
#include <vector>
#include <string>

#include <ros/ros.h>
#include <fctuc_open_day/Poses.h>

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

        if(argc!=2)
        {
                ROS_ERROR("Wrong number of arguments %d!", argc);
                ROS_ERROR("rosrun fctuc_open_day pose_reader filename");
                return 0;
        }
        
        ros::NodeHandle n;
        
        ros::Publisher pub  = n.advertise<fctuc_open_day::Poses>("/poses", 10);
        
        ROS_INFO("Opening file %s...", argv[1]);
        
        FILE * goalsFile;
        goalsFile = fopen(argv[1], "r");
        if(goalsFile == NULL)
        {
                ROS_FATAL("Cannot open file %s", argv[3]);
                return 0;       
        }
        
        fctuc_open_day::Poses targets;
        targets.header.frame_id = "/map";
        targets.header.stamp = ros::Time::now();
        
        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(%lf, %lf, %f), Orientation(%f, %f, %f, %f) = Angle: %lf\n", &(pose.x), &(pose.y), &z, &qx, &qy, &qz, &qw, &(pose.theta));
                targets.poses.push_back(pose);
                
                ROS_INFO("Frame:/map, Position(%lf, %lf, %f), Orientation(%f, %f, %f, %f) = Angle: %f", pose.x, pose.y, z, qx, qy, qz, qw, pose.theta);
        }
        
        ROS_INFO("Publishing poses...");
        for(int i=0 ; i<5 ; i++)
        {
                ros::spinOnce();
                ros::Duration(1.0).sleep();
        }
        pub.publish(targets);

        ROS_INFO("Done!");

        return 0;
}