int main(int argc, char **argv)
{
ros::init(argc, argv, "hermes_robot_interface");
ros::NodeHandle n;
ros::Publisher joint_state_pub = n.advertise<sensor_msgs::JointState>("joint_states", 1);
HermesRobotInterface hermes(n);
hermes.init();
sensor_msgs::JointState joint_msg;
joint_msg.name.resize(36);
joint_msg.position.resize(36);
joint_msg.velocity.resize(36);
joint_msg.effort.resize(36);
ros::Rate loop_rate(10);
while (ros::ok)
{
hermes.getJointState(joint_msg);
joint_msg.header.stamp = ros::Time::now();
joint_state_pub.publish(joint_msg);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
void MainController::load(QString filename)
{
LoadController zeus(filename);
int athena = zeus.exec();
switch(athena)
{
case -1:
QMessageBox::warning(0, tr("Error"), tr("FILE: Unable to open ") + filename);
break;
case -2:
QMessageBox::warning(0, tr("Error"), tr("XML: Document not well formed") + filename);
break;
case -3:
{
QMessageBox::information(0, tr("Connection error"), tr("Guest user connect"));
UserSPointer hermes(new User);
hermes->setUsername("Guest");
hermes->setType(User::Viewer);
}
default:
m_mw->setCategoryList(categories().keys());
if(categories().keys().size() > 0)
setCurrentTable(categories().keys().first());
m_mw->setUserOk(UserController::currentUser()->type());
m_currentFile = filename;
userChange();
break;
}
}