rq_test_sensor.cpp

Go to the documentation of this file.

/* Software License Agreement (BSD License)
*
* Copyright (c) 2014, Robotiq, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Robotiq, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Copyright (c) 2014, Robotiq, Inc
*/

#include "ros/ros.h"
#include "std_msgs/String.h"
#include "robotiq_ft_sensor/ft_sensor.h"
#include "robotiq_ft_sensor/sensor_accessor.h"

#include <sstream>

/*void receiveCallback(const std_msgs::String::ConstPtr& msg)
{
        ROS_INFO("I heard: [%s]", msg->data.c_str());
}*/

void reCallback(const robotiq_ft_sensor::ft_sensor& msg)
{
        ROS_INFO("I heard: FX[%f] FY[%f] FZ[%f] MX[%f] MY[%f] MZ[%f]", msg.Fx,msg.Fy,msg.Fz,msg.Mx,msg.My,msg.Mz);
}

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

        ros::init(argc, argv, "rq_test_sensor");


        ros::NodeHandle n;

        ros::ServiceClient client = n.serviceClient<robotiq_ft_sensor::sensor_accessor>("robotiq_ft_sensor_acc");
        ros::Subscriber sub1 = n.subscribe("robotiq_ft_sensor",100,reCallback);

        robotiq_ft_sensor::sensor_accessor srv;

        int count = 0;
        while (ros::ok())
        {
        if(count == 10000000){

                // srv.request.command = "SET ZRO";

                srv.request.command_id = srv.request.COMMAND_SET_ZERO;

                if(client.call(srv)){
                        ROS_INFO("ret: %s", srv.response.res.c_str());
                }
                count = 0;
        }

                ros::spinOnce();

                ++count;
        }


        return 0;
}