plumesim_test.cpp

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* Author: Gonçalo Cabrita and Pedro Sousa on 07/06/2010
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#include "ros/ros.h"
#include "plumesim/ReadPlumeSim.h"
#include <nav_msgs/Odometry.h>
#include <cstdlib>

using namespace plumesim;

nav_msgs::Odometry myOdom;

void odomCallback(const nav_msgs::OdometryConstPtr& msg)
{
        myOdom.pose.pose.position.x = msg->pose.pose.position.x;
        myOdom.pose.pose.position.y = msg->pose.pose.position.y;
        myOdom.pose.pose.position.z = msg->pose.pose.position.z;
}

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

        ros::NodeHandle n;
        ros::Subscriber odom_sub = n.subscribe("odom", 1, odomCallback);
        ros::ServiceClient client = n.serviceClient<plumesim::ReadPlumeSim>("plumesim/read_plumesim");

        ros::Rate r(1);
        while(ros::ok())
        {
                plumesim::ReadPlumeSim srv;
                srv.request.odom.pose.pose.position.x = myOdom.pose.pose.position.x;
                srv.request.odom.pose.pose.position.y = myOdom.pose.pose.position.y;
                srv.request.odom.pose.pose.position.z = myOdom.pose.pose.position.z;

                if(client.call(srv))
                {
                        ROS_INFO("Chemical: %f", srv.response.nostril.reading);
                }
                else
                {
                        ROS_ERROR("Failed to get a reading from PlumeSim.");
                }
                ros::spinOnce();
                r.sleep();
        }

        return(0);
}