tactile.cpp
Go to the documentation of this file.
00001 
00029 #include <ros/ros.h>
00030 #include <string>
00031 
00032 #include <boost/thread.hpp>
00033 
00034 //messages
00035 #include <std_msgs/Float64.h>
00036 
00037 //a ros subscriber (will be instantiated later on)
00038 ros::Subscriber sub[5];
00039 std_msgs::Float64::_data_type data[5];
00040 boost::mutex update_mutex;
00041 
00042 
00043 void callback_ff(const std_msgs::Float64ConstPtr& msg)
00044 {
00045   update_mutex.lock();
00046   data[0] = msg->data;
00047   update_mutex.unlock();
00048 }
00049 void callback_mf(const std_msgs::Float64ConstPtr& msg)
00050 {
00051   update_mutex.lock();
00052   data[1] = msg->data;
00053   update_mutex.unlock();
00054 }
00055 void callback_rf(const std_msgs::Float64ConstPtr& msg)
00056 {
00057   update_mutex.lock();
00058   data[2] = msg->data;
00059   update_mutex.unlock();
00060 }
00061 void callback_lf(const std_msgs::Float64ConstPtr& msg)
00062 {
00063   update_mutex.lock();
00064   data[3] = msg->data;
00065   update_mutex.unlock();
00066 }
00067 void callback_th(const std_msgs::Float64ConstPtr& msg)
00068 {
00069   update_mutex.lock();
00070   data[4] = msg->data;
00071   update_mutex.unlock();
00072 }
00073 
00074 
00075 int main(int argc, char** argv)
00076 {
00077   //init the ros node
00078   ros::init(argc, argv, "test_tactile");
00079 
00080   ros::NodeHandle node_tactile;
00081 
00082   sub[0] = node_tactile.subscribe("/sr_tactile/touch/ff", 2,  callback_ff);
00083   sub[1] = node_tactile.subscribe("/sr_tactile/touch/mf", 2,  callback_mf);
00084   sub[2] = node_tactile.subscribe("/sr_tactile/touch/rf", 2,  callback_rf);
00085   sub[3] = node_tactile.subscribe("/sr_tactile/touch/lf", 2,  callback_lf);
00086   sub[4] = node_tactile.subscribe("/sr_tactile/touch/th", 2,  callback_th);
00087 
00088   ros::Rate publish_rate = ros::Rate(20.0);
00089   std_msgs::Float64::_data_type cur_data[5] = {0};
00090 
00091   while( ros::ok() )
00092   {
00093     update_mutex.lock();
00094     for (int i=0; i<5; i++)
00095       cur_data[i] = data[i];
00096     update_mutex.unlock();
00097 
00098     ROS_ERROR("TACTILE SENSOR READING: %f %f %f %f %f",
00099                cur_data[0],
00100                cur_data[1],
00101                cur_data[2],
00102                cur_data[3],
00103                cur_data[4]);
00104 
00105     publish_rate.sleep();
00106     ros::spinOnce();
00107   }
00108 
00109   return 0;
00110 }


sr_tactile_sensors
Author(s): Ugo Cupcic
autogenerated on Fri Aug 28 2015 13:10:32