root / scout / libscout / src / test_encoders.cpp @ f325b893
History | View | Annotate | Download (839 Bytes)
1 |
|
---|---|
2 |
#include <ros/ros.h> |
3 |
#include <encoders/query_encoders.h> |
4 |
|
5 |
int main(int argc, char **argv) |
6 |
{ |
7 |
ros::init(argc, argv, "test_encoders");
|
8 |
ros::NodeHandle node; |
9 |
|
10 |
ros::ServiceClient query_encoders_client = |
11 |
node.serviceClient<encoders::query_encoders>("/scout1/query_encoders");
|
12 |
|
13 |
ros::Rate r(10);
|
14 |
|
15 |
while (ros::ok())
|
16 |
{ |
17 |
encoders::query_encoders srv; |
18 |
if (query_encoders_client.call(srv))
|
19 |
{ |
20 |
printf("Got encoders: fl:%u, fr:%u, bl:%u, br:%u).\n",
|
21 |
srv.response.fl_distance, |
22 |
srv.response.fr_distance, |
23 |
srv.response.bl_distance, |
24 |
srv.response.br_distance); |
25 |
} |
26 |
else
|
27 |
{ |
28 |
printf("ERROR: Failed to call service.\n");
|
29 |
} |
30 |
|
31 |
ros::spinOnce(); |
32 |
r.sleep(); |
33 |
} |
34 |
|
35 |
return 0; |
36 |
} |