controller_to_csv_main.cpp
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00034 
00035 /* Author: Dave Coleman
00036    Desc:   Records ros_control ControllerState data to CSV for Matlab/etc analysis
00037 */
00038 
00039 #include <ros_control_boilerplate/tools/controller_to_csv.h>
00040 
00041 // Command line arguments
00042 #include <gflags/gflags.h>
00043 
00044 DEFINE_string(csv_path, "/tmp/recorded_trajectory_1.csv", "File location to save recoded data to");
00045 DEFINE_string(topic, "/robot/position_trajectory_controller/state", "ROS topic to subscribe to");
00046 
00047 int main(int argc, char** argv)
00048 {
00049   google::SetVersionString("0.0.1");
00050   google::SetUsageMessage("Utility to record controller topic to a CSV");
00051   google::ParseCommandLineFlags(&argc, &argv, true);
00052 
00053   ros::init(argc, argv, "controller_to_csv", ros::init_options::AnonymousName);
00054   ROS_INFO_STREAM_NAMED("main", "Starting ControllerToCSV...");
00055 
00056   // Allow the action server to recieve and send ros messages
00057   ros::AsyncSpinner spinner(2);
00058   spinner.start();
00059 
00060   const std::string topic = FLAGS_topic;
00061   const std::string csv_path = FLAGS_csv_path;
00062   ros_control_boilerplate::ControllerToCSV converter(topic);
00063   converter.startRecording(csv_path);
00064 
00065   ROS_INFO_STREAM_NAMED("main","Type Ctrl-C to end and save");
00066   ros::spin();
00067 
00068   ROS_INFO_STREAM_NAMED("main", "Shutting down.");
00069   ros::shutdown();
00070 
00071   return 0;
00072 }


ros_control_boilerplate
Author(s): Dave Coleman
autogenerated on Thu Jun 6 2019 20:37:19