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finalisation du launch et du controller

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This commit is contained in:
Guillaume Courrier 2019-12-09 21:47:10 +01:00
parent 1c4f9ffcfe
commit 1d8ada838d
2 changed files with 33 additions and 8 deletions
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8
ROS/gesture_based_control/launch/gesture_control.launch
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@ -1,6 +1,10 @@
<launch>
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node"/>
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node">
<param name="pixel_format" value="yuyv"/>
</node>
<node name="rqt_image_view" pkg="rqt_image_view" type="rqt_image_view"/>
<node name="controller" pkg="gesture_based_control" type="controller"/>
<node name="controller" pkg="gesture_based_control" type="controller" output="screen">
<remap from="/cmd_vel" to="/turtle1/cmd_vel"/>
</node>
<node name="turtle" pkg="turtlesim" type="turtlesim_node"/>
</launch>

33
ROS/gesture_based_control/src/controller.cpp
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@ -1,17 +1,38 @@
#include <ros/ros.h>
#include <std_msgs/String.h>
#include <geometry_msgs/Twist.h>
void callback(const std_msgs::String& msg) {
//ROS_INFO("coucou");
void callback(const std_msgs::String& msg, geometry_msgs::Twist& cmd) {
if (msg.data == "forward") {
cmd.linear.x = 1.0;
cmd.angular.z = 0.0;
} else if (msg.data == "stop") {
cmd = geometry_msgs::Twist();
} else if (msg.data == "left") {
cmd.angular.z = 1.0;
cmd.linear.x = 0.0;
} else if (msg.data == "right") {
cmd.angular.z = -1.0;
cmd.linear.x = 0.0;
}
}
int main(int argc, char** argv) {
ros::init(argc, argv, "controller");
/*
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("/order", 0, callback);
ros::spin();
*/
ros::Publisher pub = n.advertise<geometry_msgs::Twist>("/cmd_vel", 0);
geometry_msgs::Twist cmd;
ros::Rate rate(10);
boost::function<void(const std_msgs::String&)> cb = boost::bind(callback, _1, boost::ref(cmd));
ros::Subscriber sub = n.subscribe<std_msgs::String&>("/order", 0, cb);
while(ros::ok()) {
pub.publish(cmd);
ros::spinOnce();
rate.sleep();
}
return 0;
}