94 lines
3.5 KiB
C++
Executable File
94 lines
3.5 KiB
C++
Executable File
///////////////////////////////////////////////////////////////////////////////
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// Copyright (C) 2013, PAL Robotics S.L.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of PAL Robotics, Inc. nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//////////////////////////////////////////////////////////////////////////////
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// NOTE: The contents of this file have been taken largely from the ros_control wiki tutorials
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#include "diffbot.h"
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#include <chrono>
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#include <thread>
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#include <controller_manager/controller_manager.h>
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#include <ros/ros.h>
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#include <rosgraph_msgs/Clock.h>
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int main(int argc, char **argv)
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{
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ros::init(argc, argv, "skidsteerbot");
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ros::NodeHandle nh;
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// This should be set in launch files as well
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nh.setParam("/use_sim_time", true);
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Diffbot<6> robot;
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ROS_WARN_STREAM("period: " << robot.getPeriod().toSec());
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controller_manager::ControllerManager cm(&robot, nh);
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ros::Publisher clock_publisher = nh.advertise<rosgraph_msgs::Clock>("/clock", 1);
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//ros::Rate rate(1.0 / robot.getPeriod().toSec());
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ros::AsyncSpinner spinner(1);
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spinner.start();
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std::chrono::system_clock::time_point begin = std::chrono::system_clock::now();
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std::chrono::system_clock::time_point end = std::chrono::system_clock::now();
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ros::Time internal_time(0);
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const ros::Duration dt = robot.getPeriod();
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double elapsed_secs = 0;
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while(ros::ok())
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{
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begin = std::chrono::system_clock::now();
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robot.read();
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cm.update(internal_time, dt);
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robot.write();
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end = std::chrono::system_clock::now();
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elapsed_secs = std::chrono::duration_cast<std::chrono::duration<double> >((end - begin)).count();
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if (dt.toSec() - elapsed_secs < 0.0)
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{
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ROS_WARN_STREAM_THROTTLE(
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0.1, "Control cycle is taking to much time, elapsed: " << elapsed_secs);
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}
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else
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{
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ROS_DEBUG_STREAM_THROTTLE(1.0, "Control cycle is, elapsed: " << elapsed_secs);
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std::this_thread::sleep_for(std::chrono::duration<double>(dt.toSec() - elapsed_secs));
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}
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rosgraph_msgs::Clock clock;
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clock.clock = ros::Time(internal_time);
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clock_publisher.publish(clock);
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internal_time += dt;
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}
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spinner.stop();
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return 0;
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}
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