int main(int argc, char **argv)
{
ros::init(argc, argv, "ros_erle_ubled_client");
if (argc != 3){
ROS_INFO("usage: writter number_of_leds/set_preset_pattern X");
return 1;
}
ros::NodeHandle n,led_init_n;
ros::Publisher quantity_pub = n.advertise<ros_erle_ubled::init_number_leds>("quantity_leds", 1000);
ros::Publisher preset_pattern_pub = led_init_n.advertise<ros_erle_ubled::preset_pattern>("ubled_preset_pattern", 1000);
ros_erle_ubled::init_number_leds init_msg;
ros_erle_ubled::preset_pattern pattern_msg;
ros::Rate loop_rate(10);
ros::Rate poll_rate(100);
int count = 0;
while (ros::ok()){
while(quantity_pub.getNumSubscribers() == 0 && preset_pattern_pub.getNumSubscribers()==0 )
{
poll_rate.sleep();
ROS_INFO("Waiting subscriber...\n");
}
//if (std::string(argv[1])=="number_of_leds"){//Konparazioa gaizki dago, stringari \ kendu!
if (strcmp(argv[1],"number_of_leds")==0){
//ROS_INFO("printing leds init mssg\n");
//quantity_pub.publish(init_msg);
init_msg.number_leds=atoi(argv[2]);
ROS_INFO("printing %i leds init mssg\n",init_msg.number_leds);
quantity_pub.publish(init_msg);
}
if (strcmp(argv[1],"set_preset_pattern")==0){
//ROS_INFO("printing preset pattern mssg\n");
//led_init_pub.publish(init_msg);
pattern_msg.ubled_preset_pattern=atoi(argv[2]);
ROS_INFO("printing %i pattern mssg\n",pattern_msg.ubled_preset_pattern);
preset_pattern_pub.publish(pattern_msg);
}
ros::spinOnce();
loop_rate.sleep();
//ROS_INFO("printing led pattern\n");
//led_init_pub.publish(pattern_msg);
//ros::spinOnce();
//loop_rate.sleep();
}
return 0;
}
Initialization() {
to_epos_pub_ = n_.advertise<EposManager::EPOSControl>("/motors/BeachBot/Motor_Control", 10, true);
ros::Rate poll_rate(100);
while(to_epos_pub_.getNumSubscribers() == 0 && ros::ok()) poll_rate.sleep(); //wait until publisher is connected
}