test_jaco_arm_car_vel.cpp

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//============================================================================
// Name        : Jaco.cpp
// Author      : 
// Version     :
// Copyright   : Your copyright notice
// Description : Hello World in C++, Ansi-style
//============================================================================

//License File
#include <jaco_driver/test_jaco_arm_car_vel.h>

using namespace std;


CartesianVelTest::CartesianVelTest(ros::NodeHandle nh,std::string JointVelocity)
{
         pub = nh.advertise<geometry_msgs::TwistStamped>(JointVelocity,
                                2);
          x_vel = 0;
          y_vel = 0;
          z_vel = 0;
          rx_vel = 0;
          ry_vel = 0;
          rz_vel = 0;

                dr_call = boost::bind(&CartesianVelTest::callback,this, _1, _2);
                  dr_server.setCallback(dr_call);
                timer = nh.createTimer(ros::Duration(0.1),&CartesianVelTest::TimerCallback,this);
                //ROS_INFO("Start");

}
void CartesianVelTest::TimerCallback(const ros::TimerEvent&)
{
        geometry_msgs::TwistStamped test_msg;


        test_msg.header.frame_id        = "/jaco_arm_api";
        test_msg.header.stamp   = ros::Time().now();



                        test_msg.twist.linear.x = x_vel;
                        test_msg.twist.linear.y = y_vel;
                        test_msg.twist.linear.z = z_vel;
                        test_msg.twist.angular.x= rx_vel;
                        test_msg.twist.angular.y = ry_vel;
                        test_msg.twist.angular.z = rz_vel;


                        pub.publish(test_msg);
                //      ROS_INFO("Timer");


}

void CartesianVelTest::callback(jaco_driver::JacoVelocityConfig &config, uint32_t level) {

         x_vel=config.X_Vel;
         y_vel=config.Y_Vel;
         z_vel=config.Z_Vel;
         rx_vel=config.RX_Vel;
         ry_vel=config.RY_Vel;
         rz_vel=config.RZ_Vel;

        //      ROS_INFO("Reconfigure");


}

int main(int argc, char **argv) {

        /* Set up ROS */
        ros::init(argc, argv, "test_jaco_arm_car_vel");
        ros::NodeHandle nh;
        ros::NodeHandle param_nh("~");

        std::string JointVelocity("CartesianVelocity"); 

        CartesianVelTest test_node(nh,JointVelocity);


        ros::spin();
}