L1.5/ros2aria
L1.5/ros2aria
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Set up a listener for cmd_vel

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This commit is contained in:
Wojciech Kwolek 2021-03-25 11:14:39 +00:00
parent d120d122a4
commit 95f81b71c5
4 changed files with 16 additions and 8 deletions
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5
.vscode/settings.json vendored
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@ -1,5 +1,8 @@
{ {
"python.autoComplete.extraPaths": [ "python.autoComplete.extraPaths": [
"/opt/ros/foxy/lib/python3.8/site-packages" "/opt/ros/foxy/lib/python3.8/site-packages"
] ],
"files.associations": {
"functional": "cpp"
}
} }

2
src/ros2aria/CMakeLists.txt
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@ -19,6 +19,7 @@ endif()
find_package(ament_cmake REQUIRED) find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED) find_package(rclcpp REQUIRED)
find_package(std_srvs REQUIRED) find_package(std_srvs REQUIRED)
find_package(geometry_msgs REQUIRED)
# uncomment the following section in order to fill in # uncomment the following section in order to fill in
# further dependencies manually. # further dependencies manually.
# find_package(<dependency> REQUIRED) # find_package(<dependency> REQUIRED)
@ -27,6 +28,7 @@ find_package(std_srvs REQUIRED)
add_executable(ros2aria src/ros2aria.cpp) add_executable(ros2aria src/ros2aria.cpp)
ament_target_dependencies(ros2aria rclcpp) ament_target_dependencies(ros2aria rclcpp)
ament_target_dependencies(ros2aria std_srvs) ament_target_dependencies(ros2aria std_srvs)
ament_target_dependencies(ros2aria geometry_msgs)
target_include_directories(ros2aria PUBLIC target_include_directories(ros2aria PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include> $<INSTALL_INTERFACE:include>

1
src/ros2aria/package.xml
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@ -14,6 +14,7 @@
<depend>rclcpp</depend> <depend>rclcpp</depend>
<depend>std_srvs</depend> <depend>std_srvs</depend>
<depend>geometry_msgs</depend>
<export> <export>
<build_type>ament_cmake</build_type> <build_type>ament_cmake</build_type>

16
src/ros2aria/src/ros2aria.cpp
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@ -6,6 +6,8 @@
#include "rclcpp/rclcpp.hpp" #include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp" #include "std_msgs/msg/string.hpp"
#include "std_srvs/srv/empty.hpp" #include "std_srvs/srv/empty.hpp"
#include "geometry_msgs/msg/twist.hpp"
using std::placeholders::_1; using std::placeholders::_1;
using std::placeholders::_2; using std::placeholders::_2;
@ -35,20 +37,20 @@ public:
this->robot->runAsync(true); this->robot->runAsync(true);
this->robot->enableMotors(); this->robot->enableMotors();
subscription_ = this->create_subscription<std_msgs::msg::String>( cmd_vel_sub_ = this->create_subscription<geometry_msgs::msg::Twist>(
"topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1)); "cmd_vel", 10, std::bind(&MinimalSubscriber::cmd_vel_callback, this, _1));
service_ = this->create_service<std_srvs::srv::Empty>("stop", std::bind(&MinimalSubscriber::stop, this, _1, _2)); stop_service_ = this->create_service<std_srvs::srv::Empty>("stop", std::bind(&MinimalSubscriber::stop, this, _1, _2));
} }
private: private:
ArRobot *robot; ArRobot *robot;
ArRobotConnector *robotConn; ArRobotConnector *robotConn;
void topic_callback(const std_msgs::msg::String::SharedPtr msg) const void cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg) const
{ {
RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str()); RCLCPP_INFO(this->get_logger(), "cmd_vel: %f", msg->linear.x);
} }
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_; rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_;
void stop(const std::shared_ptr<std_srvs::srv::Empty::Request> request, std::shared_ptr<std_srvs::srv::Empty::Response> response) const void stop(const std::shared_ptr<std_srvs::srv::Empty::Request> request, std::shared_ptr<std_srvs::srv::Empty::Response> response) const
{ {
@ -56,7 +58,7 @@ private:
this->robotConn->disconnectAll(); this->robotConn->disconnectAll();
rclcpp::shutdown(); rclcpp::shutdown();
} }
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr service_; rclcpp::Service<std_srvs::srv::Empty>::SharedPtr stop_service_;
}; };
int main(int argc, char **argv) int main(int argc, char **argv)