Revision dec96050
| ID | dec96050c396868ccc91772c744b018566045537 |
Made libscout compile. Changed behavior.cpp to set motors to the same speed in order to test simulator code.
| scout/libscout/src/behavior.cpp | ||
|---|---|---|
| 44 | 44 |
* \param argv The array of command line arguments |
| 45 | 45 |
**/ |
| 46 | 46 |
int main(int argc, char **argv){
|
| 47 |
/* Todo: Replace this tester code */ |
|
| 48 |
/* Creates a simple publisher/subscriber node to test simulator |
|
| 49 |
* for motors interface |
|
| 50 |
*/ |
|
| 51 |
|
|
| 52 |
/* Initialize ROS */ |
|
| 53 |
ros::init(argc, argv, "libscout"); |
|
| 54 |
/* Initialize Scout library */ |
|
| 47 | 55 |
init(LIB_ALL, argc, argv); |
| 48 |
/** \todo remove this test code **/ |
|
| 49 |
// motors_set(100, MOTOR_ALL); |
|
| 50 |
ROS_INFO("%d", motors_query(MOTOR_FL));
|
|
| 51 |
|
|
| 52 |
ROS_SPIN( |
|
| 56 |
|
|
| 57 |
/* Some nodehandle to something. I'd tell you what except its called n_ |
|
| 58 |
* so it wouldnt reflect in the rest of the code. |
|
| 59 |
*/ |
|
| 60 |
ros::NodeHandle n_; |
|
| 61 |
|
|
| 62 |
ros::Publisher motors_set = n_.advertise<motors::set_motors>("Stuff", 1000);
|
|
| 63 |
|
|
| 64 |
ros::Rate loop_rate(10); |
|
| 65 |
|
|
| 66 |
while(ros::ok()){
|
|
| 67 |
motors::set_motors msg; |
|
| 68 |
|
|
| 69 |
/* Set message fields */ |
|
| 70 |
msg.fl_speed = 125; |
|
| 71 |
msg.bl_speed = 125; |
|
| 72 |
msg.fr_speed = 125; |
|
| 73 |
msg.br_speed = 125; |
|
| 74 |
msg.which = 0; |
|
| 75 |
msg.units = MOTOR_ABSOLUTE; |
|
| 76 |
|
|
| 77 |
/* publish */ |
|
| 78 |
motors_set.publish(msg); |
|
| 79 |
|
|
| 80 |
ros::spinOnce(); |
|
| 81 |
|
|
| 82 |
loop_rate.sleep(); |
|
| 83 |
} |
|
| 84 |
|
|
| 53 | 85 |
return 0; |
| 54 |
} |
|
| 86 |
} |
|
Also available in: Unified diff