bool DownloadInfo::Parse(TiXmlNode* node, muThread_Updater* thread)
{
TiXmlHandle nodeHandle(node);
m_thread = thread;
// Read name
m_updateName = ParseString(nodeHandle.FirstChild("name").ToElement());
// Read filename
m_fileName = ParseString(nodeHandle.FirstChild("file").ToElement());
// Read mirrors
for( node = nodeHandle.FirstChild("mirrors").FirstChild("url").ToNode(); node; node=node->NextSibling("url") )
{
wxString url = ParseString(node->ToElement());
if( !url.empty() )
m_URLS.push_back(url);
}
// Read platform
m_platform = ParsePlatform(ParseString(nodeHandle.FirstChild("platform").ToElement()));
// Read type
m_type = ParseType(ParseString(nodeHandle.FirstChild("type").ToElement()));
// Read requirement
ParseString(nodeHandle.FirstChild("requires").ToElement()).ToLong(&m_requires);
// Read md5
m_md5 = ParseString(nodeHandle.FirstChild("md5").ToElement());
return IsOK();
}
int main(int argc, char **argv)
{
GOOGLE_PROTOBUF_VERIFY_VERSION; //Verify version of ProtoBuf package
ros::init(argc, argv, "luna_gui_listener");
ros::NodeHandle nodeHandle("lunabotics");
teleoperationPublisher = nodeHandle.advertise<lunabotics::Teleoperation>(TOPIC_CMD_TELEOP, 256);
pidPublisher = nodeHandle.advertise<lunabotics::PID>(TOPIC_CMD_PATH_FOLLOWING, sizeof(float)*3);
autonomyPublisher = nodeHandle.advertise<std_msgs::Bool>(TOPIC_CMD_AUTONOMY, 1);
controlModePublisher = nodeHandle.advertise<lunabotics::SteeringMode>(TOPIC_STEERING_MODE, 1);
goalPublisher = nodeHandle.advertise<lunabotics::Goal>(TOPIC_CMD_GOAL, 1);
allWheelPublisher = nodeHandle.advertise<lunabotics::AllWheelState>(TOPIC_CMD_EXPLICIT_ALL_WHEEL, sizeof(float)*8);
allWheelCommonPublisher = nodeHandle.advertise<lunabotics::AllWheelCommon>(TOPIC_CMD_ALL_WHEEL, sizeof(int32_t));
mapRequestPublisher = nodeHandle.advertise<std_msgs::Empty>(TOPIC_CMD_UPDATE_MAP, 1);
ICRPublisher = nodeHandle.advertise<lunabotics::ICRControl>(TOPIC_CMD_ICR, sizeof(float)*3);
CrabPublisher = nodeHandle.advertise<lunabotics::CrabControl>(TOPIC_CMD_CRAB, sizeof(float)*3);
connPublisher = nodeHandle.advertise<lunabotics::Connection>(TOPIC_CMD_CONN, 256);
signal(SIGINT,quit); // Quits program if ctrl + c is pressed
acceptor.listen();
ROS_INFO("Listening on %d", PORT);
acceptor.async_accept(sock, accept_handler);
io_service.run();
ros::shutdown();
return 0;
}
static void mdlStart(SimStruct *S)
{
// Notify
SFUNPRINTF("Starting Instance of %s.\n", TOSTRING(S_FUNCTION_NAME));
// init ROS if not yet done.
initROS(S);
ros::NodeHandle nodeHandle(ros::this_node::getName());
void** vecPWork = ssGetPWork(S);
ros::Time::init();
ros::Time* firstExecTime = new ros::Time(ros::Time::now());
vecPWork[0] = firstExecTime;
ros::Time* lastExecTime = new ros::Time(*firstExecTime);
vecPWork[1] = lastExecTime;
real_T* vecRWork = ssGetRWork(S);
vecRWork[0] = mxGetScalar(ssGetSFcnParam(S, 0)); // Tsim
vecRWork[1] = 0.0; // simulationTime
int_T* vecIWork = ssGetIWork(S);
vecIWork[0] = 1; // initialize step counter
}
static void mdlStart(SimStruct *S)
{
SFUNPRINTF("Starting Instance of %s.\n", TOSTRING(S_FUNCTION_NAME));
// init ROS if not yet done.
initROS(S);
void** vecPWork = ssGetPWork(S);
ros::AsyncSpinner* spinner = new ros::AsyncSpinner(1); // Spinner
spinner->start();
vecPWork[0] = spinner;
ros::NodeHandle nodeHandle(ros::this_node::getName());
// get String
size_t buflen = mxGetN((ssGetSFcnParam(S, 1)))*sizeof(mxChar)+1;
char* topic = (char*)mxMalloc(buflen);
size_t status = mxGetString((ssGetSFcnParam(S, 1)), topic, buflen);
//SFUNPRINTF("The string being passed as a Paramater is - %s\n ", topic);
GenericSubscriber<sensor_msgs::Joy>* sub = new GenericSubscriber<sensor_msgs::Joy>(nodeHandle, std::string(topic), 100);
vecPWork[1] = sub;
//*sub = n.subscribe(std::string(topic), 1, msgCallback);
// free char array
mxFree(topic);
}
static void getContextMenuFromDefaultMenu(WKBundlePageRef page, WKBundleHitTestResultRef hitTestResult, WKArrayRef defaultMenu, WKArrayRef* newMenu, WKTypeRef* userData, const void* clientInfo)
{
WKRetainPtr<WKBundleNodeHandleRef> nodeHandle(AdoptWK, WKBundleHitTestResultCopyNodeHandle(hitTestResult));
if (!nodeHandle)
return;
WKBundlePostMessage(InjectedBundleController::shared().bundle(), Util::toWK("HitTestResultNodeHandleTestDoneMessageName").get(), Util::toWK("HitTestResultNodeHandleTestDoneMessageBody").get());
}
void LayoutTestController::setValueForUser(JSContextRef context, JSValueRef element, JSStringRef value)
{
if (!element || !JSValueIsObject(context, element))
return;
WKRetainPtr<WKBundleNodeHandleRef> nodeHandle(AdoptWK, WKBundleNodeHandleCreate(context, const_cast<JSObjectRef>(element)));
WKBundleNodeHandleSetHTMLInputElementValueForUser(nodeHandle.get(), toWK(value).get());
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "point_cloud_preprocessing");
ros::NodeHandle nodeHandle("~");
point_cloud_preprocessing::PointCloudPreprocessing PointCloudPreprocessing(nodeHandle);
ros::waitForShutdown();
return 0;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "grid_map_filters_demo");
ros::NodeHandle nodeHandle("~");
bool success;
grid_map_demos::FiltersDemo filtersDemo(nodeHandle, success);
if (success) ros::spin();
return 0;
}
int main(int argc, char** argv) {
ros::init(argc, argv, "map_fitter");
ros::NodeHandle nodeHandle("~");
map_fitter::MapFitter mapFitter(nodeHandle);
ros::spin();
return 0;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "read");
ros::NodeHandle nodeHandle("~");
point_cloud_io::Read read(nodeHandle);
ros::spin();
return 0;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "write");
ros::NodeHandle nodeHandle("~");
point_cloud_io::Write write(nodeHandle);
ros::spin();
return 0;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "grid_map_visualization");
ros::NodeHandle nodeHandle("~");
grid_map_visualization::GridMapVisualization gridMapVisualization(nodeHandle, "grid_map_visualizations");
ros::spin();
return 0;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "lidar_to_point_cloud_transformer");
ros::NodeHandle nodeHandle("~");
lidar_to_point_cloud_transformer::LidarToPointCloudTransformer lidarToPointCloudTransformer(nodeHandle);
ros::spin();
return 0;
}
int main(int argc, char **argv) {
ros::init(argc, argv, "image_changer");
dynamic_reconfigure::Server<imagepub_waitinglist::ImageChangerConfigConfig> srv;
dynamic_reconfigure::Server<imagepub_waitinglist::ImageChangerConfigConfig>::CallbackType f;
f = boost::bind(&callback, _1, _2);
srv.setCallback(f);
ros::NodeHandle nodeHandle("~");
nodeHandle.param("brightness",brightness,int(0));
nodeHandle.param("contrast",contrast,double(1));
image_transport::ImageTransport it(nodeHandle);
image_transport::Subscriber sub = it.subscribe("/image_original", 1, imageCallback);
pub = it.advertise("/image", 1);
ros::spin();
}
static void mdlStart(SimStruct *S)
{
SFUNPRINTF("Starting Instance of %s.\n", TOSTRING(S_FUNCTION_NAME));
// init ROS if not yet done.
initROS(S);
void** vecPWork = ssGetPWork(S);
int_T nRobots = mxGetNumberOfElements(ssGetSFcnParam(S,2));
*ssGetIWork(S) = nRobots;
ssGetIWork(S)[1] = *((mxChar*)mxGetData(ssGetSFcnParam(S, 4)));
ros::NodeHandle nodeHandle(ros::this_node::getName());
// get Topic Strings
size_t prefix_buflen = mxGetN((ssGetSFcnParam(S, 1)))*sizeof(mxChar)+1;
size_t postfix_buflen = mxGetN((ssGetSFcnParam(S, 3)))*sizeof(mxChar)+1;
char* prefix_topic = (char*)mxMalloc(prefix_buflen);
char* postfix_topic = (char*)mxMalloc(postfix_buflen);
mxGetString((ssGetSFcnParam(S, 1)), prefix_topic, prefix_buflen);
mxGetString((ssGetSFcnParam(S, 3)), postfix_topic, postfix_buflen);
//SFUNPRINTF("The string being passed as a Paramater is - %s\n ", topic);
std::stringstream sstream;
mxChar* robotIDs = (mxChar*)mxGetData(ssGetSFcnParam(S, 2));
for (unsigned int i = 0; i < nRobots; ++i) {
sstream.str(std::string());
// build topicstring
sstream << prefix_topic;
sstream << (uint)robotIDs[i];
sstream << postfix_topic;
GenericSubscriber<sensor_msgs::JointState>* sub
= new GenericSubscriber<sensor_msgs::JointState>(nodeHandle, sstream.str(), 10);
vecPWork[i] = sub;
}
// free char array
mxFree(prefix_topic);
mxFree(postfix_topic);
// Create nRobot Spinners
ros::AsyncSpinner* spinner = new ros::AsyncSpinner(nRobots); // nRobots Spinner
spinner->start();
vecPWork[nRobots] = spinner;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "srl_nearest_neighbor_tracker");
ros::NodeHandle nodeHandle("");
ros::NodeHandle privateHandle("~");
// Set up the ROS interface, which also establishes the connection to the parameter server
srl_nnt::ROSInterface rosInterface(nodeHandle, privateHandle);
// Now create the tracker and connect to the ROS interface
srl_nnt::NearestNeighborTracker tracker(nodeHandle, privateHandle);
rosInterface.connect(&tracker);
rosInterface.spin();
}
int main(int argc, char **argv) {
ros::init(argc, argv, "harris_corners");
dynamic_reconfigure::Server<harris_waitinglist::HarrisConfig> srv;
dynamic_reconfigure::Server<harris_waitinglist::HarrisConfig>::CallbackType f;
f = boost::bind(&callback, _1, _2);
srv.setCallback(f);
ros::NodeHandle nodeHandle("~");
nodeHandle.param("template_size",templateSize,int(3));
nodeHandle.param("threshold",threshold,double(0.1));
cvNamedWindow("Harris Corner Detection");
cvStartWindowThread();
image_transport::ImageTransport it(nodeHandle);
image_transport::Subscriber sub = it.subscribe("/image_original", 1, imageCallback);
ros::spin();
cvDestroyWindow("Harris Corner Detection");
}
/* Function: mdlTerminate =====================================================
* Abstract:
* In this function, you should perform any actions that are necessary
* at the termination of a simulation. For example, if memory was
* allocated in mdlStart, this is the place to free it.
*/
static void mdlTerminate(SimStruct *S)
{
// get Objects
ros::NodeHandle nodeHandle(ros::this_node::getName());
void** vecPWork = ssGetPWork(S);
ros::ServiceClient* start_client = (ros::ServiceClient*)vecPWork[0];
delete start_client;
ros::ServiceClient* stop_client = (ros::ServiceClient*)vecPWork[1];
vrep_common::simRosStopSimulation stopSrv;
stop_client->call(stopSrv);
if (stopSrv.response.result == -1){
ssWarning(S,"Error stopping V-REP simulation.");
}
delete stop_client;
ros::ServiceClient* synchronous_client = (ros::ServiceClient*)vecPWork[2];
vrep_common::simRosSynchronous syncSrv;
syncSrv.request.enable = false;
synchronous_client->call(syncSrv);
if (syncSrv.response.result == -1){
ssWarning(S,"Error setting V-REP synchronous simulation mode.");
}
delete synchronous_client;
ros::ServiceClient* trigger_client = (ros::ServiceClient*)vecPWork[3];
delete trigger_client;
// delete all subscribers and spinners
const int_T nWaitTopic = ssGetIWork(S)[0];
for (int_T i = 0; i<nWaitTopic; ++i){
GenericSubscriber<topic_tools::ShapeShifter>* sub =
(GenericSubscriber<topic_tools::ShapeShifter>*) vecPWork[4+i];
delete sub;
}
if (nWaitTopic>0){
ros::AsyncSpinner* spinner =
(ros::AsyncSpinner*) vecPWork[4+nWaitTopic];
delete spinner;
}
SFUNPRINTF("Terminating Instance of %s.\n", TOSTRING(S_FUNCTION_NAME));
}
int main(int argc, char** argv) {
ros::init(argc, argv, "baxter_eyes_node");
ros::NodeHandle nodeHandle("~");
if(argc < 3){
std::cout << std::endl;
std::cout << "Not enough arguments provided." << std::endl;
std::cout << "Usage: <eye_contour image file> <pupil image file>" << std::endl;
return 0;
}
baxter_eyes::BaxterEyes BaxterEyes(nodeHandle, std::string(argv[1]), std::string(argv[2]));
ros::spin();
return 0;
};
int main(int argc, char **argv)
{
ros::init(argc, argv, "luna_fear");
ros::NodeHandle nodeHandle("lunabotics");
ros::Subscriber visionSubscriber = nodeHandle.subscribe(TOPIC_TM_VISION, 256, visionCallback);
ros::Subscriber stateSubscriber = nodeHandle.subscribe(TOPIC_TM_ROBOT_STATE, 256, stateCallback);
ros::Publisher emergencyPublisher = nodeHandle.advertise<lunabotics::Emergency>(TOPIC_EMERGENCY, 256);
ros::Rate loop_rate(50);
ROS_INFO("Emergency behavior ready");
while (ros::ok()) {
emergencyPublisher.publish(emergencyMsg);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
static void mdlStart(SimStruct *S)
{
SFUNPRINTF("Starting Instance of %s.\n", TOSTRING(S_FUNCTION_NAME));
// init ROS if not yet done.
initROS(S);
void** vecPWork = ssGetPWork(S);
// save nRobots in IWorkVector
int_T nRobots = mxGetNumberOfElements(ssGetSFcnParam(S,2));
*ssGetIWork(S) = nRobots;
ros::NodeHandle nodeHandle(ros::this_node::getName());
// get Topic Strings
size_t prefix_buflen = mxGetN((ssGetSFcnParam(S, 1)))*sizeof(mxChar)+1;
size_t postfix_buflen = mxGetN((ssGetSFcnParam(S, 3)))*sizeof(mxChar)+1;
char* prefix_topic = (char*)mxMalloc(prefix_buflen);
char* postfix_topic = (char*)mxMalloc(postfix_buflen);
mxGetString((ssGetSFcnParam(S, 1)), prefix_topic, prefix_buflen);
mxGetString((ssGetSFcnParam(S, 3)), postfix_topic, postfix_buflen);
//SFUNPRINTF("The string being passed as a Paramater is - %s\n ", topic);
std::stringstream sstream;
mxChar* robotIDs = (mxChar*)mxGetData(ssGetSFcnParam(S, 2));
for (unsigned int i = 0; i < nRobots; ++i) {
sstream.str(std::string());
// build topicstring
sstream << prefix_topic;
sstream << (uint)robotIDs[i];
sstream << postfix_topic;
GenericPublisher<geometry_msgs::PointStamped>* pub
= new GenericPublisher<geometry_msgs::PointStamped>(nodeHandle, sstream.str(), 10);
vecPWork[i] = pub;
}
// free char array
mxFree(prefix_topic);
mxFree(postfix_topic);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "ur3_milling");
ros::NodeHandle nodeHandle("~");
ur3_milling::MillingPath milling_path(nodeHandle);
ros::AsyncSpinner spinner(2);
spinner.start();
ros::Rate loop_rate(1000);
while (ros::ok()) {
ros::spinOnce();
loop_rate.sleep();
}
ros::waitForShutdown();
return 0;
}
int main(int argc, char** argv) {
ros::init(argc, argv, "file_publisher");
ros::NodeHandle nodeHandle("~");
image_transport::ImageTransport it(nodeHandle);
image_transport::Publisher pub = it.advertise("/image_original", 1);
nodeHandle.param("file",file,std::string("unknown"));
nodeHandle.param("frequency",frequency,int(5));
cv::WImageBuffer3_b image(cvLoadImage(file.c_str(),CV_LOAD_IMAGE_COLOR));
sensor_msgs::ImagePtr msg = sensor_msgs::CvBridge::cvToImgMsg(image.Ipl(),"bgr8");
ros::Rate loop_rate(0.5);
// while (nodeHandle.ok()) {
loop_rate.sleep();
pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
pub.publish(msg);
ros::spinOnce();
// }
}
static void mdlStart(SimStruct *S) {
SFUNPRINTF("Creating Instance of %s.\n", TOSTRING(S_FUNCTION_NAME));
// init ROS if not yet done.
initROS(S);
void** vecPWork = ssGetPWork(S);
ros::NodeHandle nodeHandle(ros::this_node::getName());
// get Topic Strings
size_t buflen = mxGetN((ssGetSFcnParam(S, 1))) * sizeof(mxChar) + 1;
char* topic = (char*) mxMalloc(buflen);
mxGetString((ssGetSFcnParam(S, 1)), topic, buflen);
//SFUNPRINTF("The string being passed as a Paramater is - %s\n ", topic);
GenericPublisher<shape_msgs::Mesh>* pub = new GenericPublisher<
shape_msgs::Mesh>(nodeHandle, topic, 10);
vecPWork[0] = pub;
mxFree(topic);
}
static void mdlStart(SimStruct *S)
{
SFUNPRINTF("Starting Instance of %s.\n", TOSTRING(S_FUNCTION_NAME));
// init ROS if not yet done.
initROS(S);
void** vecPWork = ssGetPWork(S);
ros::NodeHandle nodeHandle(ros::this_node::getName());
// get base service name strings
size_t buflen = mxGetN((ssGetSFcnParam(S, 1)))*sizeof(mxChar)+1;
char* base_name = (char*)mxMalloc(buflen);
mxGetString((ssGetSFcnParam(S, 1)), base_name, buflen);
const std::string start_name = std::string(base_name) + "/simRosStartSimulation";
ros::ServiceClient* start_client =
new ros::ServiceClient(nodeHandle.serviceClient<vrep_common::simRosStartSimulation>(start_name));
vecPWork[0] = start_client;
if (!start_client->exists()){
ssSetErrorStatus(S,"Start service does not exist!");
}
const std::string stop_name = std::string(base_name) + "/simRosStopSimulation";
ros::ServiceClient* stop_client =
new ros::ServiceClient(nodeHandle.serviceClient<vrep_common::simRosStopSimulation>(stop_name));
vecPWork[1] = stop_client;
if (!stop_client->exists()){
ssSetErrorStatus(S,"Stop service does not exist!");
}
const std::string synchronous_name = std::string(base_name) + "/simRosSynchronous";
ros::ServiceClient* synchronous_client =
new ros::ServiceClient(nodeHandle.serviceClient<vrep_common::simRosSynchronous>(synchronous_name));
vecPWork[2] = synchronous_client;
if (!synchronous_client->exists()){
ssSetErrorStatus(S,"Synchronous service does not exist!");
}
const std::string trigger_name = std::string(base_name) + "/simRosSynchronousTrigger";
ros::ServiceClient* trigger_client =
new ros::ServiceClient(nodeHandle.serviceClient<vrep_common::simRosSynchronousTrigger>(trigger_name));
vecPWork[3] = trigger_client;
if (!trigger_client->exists()){
ssSetErrorStatus(S,"Trigger service does not exist!");
}
const std::string info_name = std::string(base_name) + "/simRosGetInfo";
ros::ServiceClient* info_client =
new ros::ServiceClient(nodeHandle.serviceClient<vrep_common::simRosGetInfo>(info_name));
if (!info_client->exists()){
ssSetErrorStatus(S,"Info service does not exist!");
}
const std::string parameter_name = std::string(base_name) + "/simRosSetFloatingParameter";
ros::ServiceClient* parameter_client =
new ros::ServiceClient(nodeHandle.serviceClient<vrep_common::simRosSetFloatingParameter>(parameter_name));
if (!parameter_client->exists()){
ssSetErrorStatus(S,"Set parameter service does not exist!");
}
mxFree(base_name);
// Set V-Rep time step to this block time step
const real_T tSim = mxGetScalar(ssGetSFcnParam(S, 0));
vrep_common::simRosSetFloatingParameter paramSrv;
paramSrv.request.parameter = sim_floatparam_simulation_time_step;
paramSrv.request.parameterValue = tSim;
parameter_client->call(paramSrv);
if (paramSrv.response.result == -1){
ssSetErrorStatus(S,"Error setting V-REP simulation time step.");
}
vrep_common::simRosGetInfo infoSrv;
info_client->call(infoSrv);
const real_T vrepTimeStep = ROUND(infoSrv.response.timeStep*1e6)*1e-6;
if (fabs(vrepTimeStep-tSim) > 1e-5){
char str[100];
sprintf(str, "V-REP time step (%e) is different from block time step (%e).", vrepTimeStep, tSim);
ssSetErrorStatus(S,str);
}
// Set synchronous mode
vrep_common::simRosSynchronous syncSrv;
syncSrv.request.enable = true;
synchronous_client->call(syncSrv);
if (syncSrv.response.result == -1){
ssSetErrorStatus(S,"Error setting V-REP synchronous simulation mode.");
}
// Start V-Rep simulation
vrep_common::simRosStartSimulation startSrv;
start_client->call(startSrv);
if (startSrv.response.result == -1){
ssSetErrorStatus(S,"Error starting V-REP simulation.");
}
// Subscribe to all the topics to wait
size_t wait_buflen = mxGetN((ssGetSFcnParam(S, 2)))*sizeof(mxChar)+1;
char* wait_name = (char*)mxMalloc(wait_buflen);
mxGetString((ssGetSFcnParam(S, 2)), wait_name, wait_buflen);
int_T nWaitTopic = 0;
char* topic = strtok(wait_name, TOPIC_SEPARATORS);
while(topic != NULL){
GenericSubscriber<topic_tools::ShapeShifter>* sub
= new GenericSubscriber<topic_tools::ShapeShifter>(nodeHandle, topic, 1);
vecPWork[4+nWaitTopic] = sub;
nWaitTopic++;
topic = strtok (NULL, TOPIC_SEPARATORS);
}
if (nWaitTopic>0){
ros::AsyncSpinner* spinner = new ros::AsyncSpinner(nWaitTopic);
spinner->start();
vecPWork[4+nWaitTopic] = spinner;
ssGetIWork(S)[0] = nWaitTopic;
}
mxFree(wait_name);
}
