position_mockup.cpp

Go to the documentation of this file.

/*
 * Copyright 2022 Technical University of Munich, Chair of Materials Handling,
 * Material Flow, Logistics – All Rights Reserved
 * 
 * You may use, distribute and modify this code under the terms of the 3-clause
 * BSD license. You should have received a copy of that license with this file.
 * If not, please write to {kontakt.fml@ed.tum.de}.
 */

#include "ros/ros.h"
#include "vda5050_msgs/AGVPosition.h"


int main(int argc, char **argv)
{
    ros::init(argc, argv, "order_publisher");
    ros::NodeHandle nh;

    float start_x = 10.0;
    float start_y = 10.0;
    float goal_x = 16.413757;
    float goal_y = 19.216549;

    int i = -3;
    // initialize a publisher
    ros::Publisher position_pub = nh.advertise<vda5050_msgs::AGVPosition>("agvPosition", 1000);

    ros::Rate loop_rate(0.5);

    while (ros::ok())
    {
        vda5050_msgs::AGVPosition posMsg;
        posMsg.x = start_x+(goal_x-start_x)/10*i;
        posMsg.y = start_y+(goal_y-start_y)/10*i;
        posMsg.theta = 0;
        posMsg.deviationRange = 0.1;
        posMsg.mapId = "6d673fe4-8660-4dec-9b06-8d2b6e4ee8d2"; 
        posMsg.mapDescription = "Map Id 6d673fe4-8660-4dec-9b06-8d2b6e4ee8d2";

        position_pub.publish(posMsg);

        i++;

        if (i==11)
            i = 0;

        ros::spinOnce();
        loop_rate.sleep();
    }
}