git commit -m "first commit"

mir_robot/diff_drive_controller/test/diffbot.cpp

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+///////////////////////////////////////////////////////////////////////////////
+// Copyright (C) 2013, PAL Robotics S.L.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//   * Redistributions of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//   * Redistributions in binary form must reproduce the above copyright
+//     notice, this list of conditions and the following disclaimer in the
+//     documentation and/or other materials provided with the distribution.
+//   * Neither the name of PAL Robotics, Inc. nor the names of its
+//     contributors may be used to endorse or promote products derived from
+//     this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//////////////////////////////////////////////////////////////////////////////
+
+// NOTE: The contents of this file have been taken largely from the ros_control wiki tutorials
+
+#include "diffbot.h"
+#include <chrono>
+#include <thread>
+#include <controller_manager/controller_manager.h>
+#include <ros/ros.h>
+#include <rosgraph_msgs/Clock.h>
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "diffbot");
+  ros::NodeHandle nh;
+
+  // This should be set in launch files as well
+  nh.setParam("/use_sim_time", true);
+
+  Diffbot<> robot;
+  ROS_WARN_STREAM("period: " << robot.getPeriod().toSec());
+  controller_manager::ControllerManager cm(&robot, nh);
+
+  ros::Publisher clock_publisher = nh.advertise<rosgraph_msgs::Clock>("/clock", 1);
+
+  ros::AsyncSpinner spinner(1);
+  spinner.start();
+
+  std::chrono::system_clock::time_point begin = std::chrono::system_clock::now();
+  std::chrono::system_clock::time_point end   = std::chrono::system_clock::now();
+
+  ros::Time internal_time(0);
+  const ros::Duration dt = robot.getPeriod();
+  double elapsed_secs = 0;
+
+  while(ros::ok())
+  {
+    begin = std::chrono::system_clock::now();
+
+    robot.read();
+    cm.update(internal_time, dt);
+
+    robot.write();
+
+    end = std::chrono::system_clock::now();
+
+    elapsed_secs = std::chrono::duration_cast<std::chrono::duration<double> >((end - begin)).count();
+
+    if (dt.toSec() - elapsed_secs < 0.0)
+    {
+      ROS_WARN_STREAM_THROTTLE(
+            0.1, "Control cycle is taking to much time, elapsed: " << elapsed_secs);
+    }
+    else
+    {
+      ROS_DEBUG_STREAM_THROTTLE(1.0, "Control cycle is, elapsed: " << elapsed_secs);
+      std::this_thread::sleep_for(std::chrono::duration<double>(dt.toSec() - elapsed_secs));
+    }
+
+    rosgraph_msgs::Clock clock;
+    clock.clock = ros::Time(internal_time);
+    clock_publisher.publish(clock);
+    internal_time += dt;
+  }
+  spinner.stop();
+
+  return 0;
+}