int main(int argc, char **argv)
{
ros::init(argc, argv, _name);
n=(ros::NodeHandle*)new(ros::NodeHandle);
init_randomization_seed();
chatter_pub = n->advertise<ws_referee::custom>("player_out", 1);
marker_pub = n->advertise<visualization_msgs::Marker>("hamid_marker", 1);
br =(tf::TransformBroadcaster*)new (tf::TransformBroadcaster);
listener= (tf::TransformListener*) new (tf::TransformListener);
init_randomization_seed();
_pos_x=-5;
_pos_y=-4;
//set teransformation
ros::Time t = ros::Time::now();
transform.setOrigin( tf::Vector3(_pos_x, _pos_y, 0.0) );
transform.setRotation( tf::Quaternion(0,0,0,1));
br->sendTransform(tf::StampedTransform(transform, t, "world", "tf_"+_name));
tf::Transform tf_tmp;
tf_tmp.setOrigin( tf::Vector3(0, 0.0, 0.0) );
tf_tmp.setRotation( tf::Quaternion(0,0,0,1));
br->sendTransform(tf::StampedTransform(tf_tmp, t, "tf_" + _name, "tf_tmp" + _name));
ros::spinOnce();
ros::Duration(0.3).sleep();
//at time now
transform.setOrigin( tf::Vector3(_pos_x, _pos_y, 0.0) );
transform.setRotation( tf::Quaternion(0, 0, 0, 1) );
br->sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", "tf_" + _name ));
tf_tmp.setOrigin( tf::Vector3(0, 0.0, 0.0) );
tf_tmp.setRotation( tf::Quaternion(0, 0, 0, 1) );
br->sendTransform(tf::StampedTransform(tf_tmp, ros::Time::now(), "tf_" + _name, "tf_tmp" + _name ));
client= (ros::ServiceClient*) new (ros::ServiceClient);
*client = n->serviceClient<ws_referee::MovePlayerTo>("move_player_"+_police_player);
ros::ServiceServer service = n->advertiseService("move_player_" + _police_player, serviceCallback);
ros::Subscriber sub = n->subscribe("player_in", 1, chatterCallback);
ros::Rate loop_rate(2);
ROS_INFO("%s: Hamid Node Started", _name.c_str());
int count = 0;
ros::MultiThreadedSpinner spinner(4); // Use 4 threads
spinner.spin(); // spin() will not return until the node has been shutdown
//while (ros::ok())
//{
//ros::spinOnce();
//loop_rate.sleep();
//++count;
//}
return 0;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, _name);
ros::NodeHandle n;
//init the randomizer
init_randomization_seed();
chatter_pub = n.advertise<ws_referee::custom>("player_out", 1);
marker_pub = n.advertise<visualization_msgs::Marker>("mike_marker", 1);
//Allocate the broadcaster and listener
br = (tf::TransformBroadcaster*) new (tf::TransformBroadcaster);
listener = (tf::TransformListener*) new (tf::TransformListener);
_pos_x = -5;
_pos_y = 1; //to be read from a param
ros::Duration(0.3).sleep();
ros::Time t = ros::Time::now();
//Send the transformation
transform.setOrigin( tf::Vector3(_pos_x, _pos_y, 0.0) );
transform.setRotation( tf::Quaternion(0, 0, 0, 1) );
br->sendTransform(tf::StampedTransform(transform, t, "world", "tf_" + _name));
tf::Transform tf_tmp;
tf_tmp.setOrigin( tf::Vector3(0, 0.0, 0.0) );
tf_tmp.setRotation( tf::Quaternion(0, 0, 0, 1) );
br->sendTransform(tf::StampedTransform(tf_tmp, t, "tf_" + _name, "tf_tmp" + _name));
ros::spinOnce();
ros::Duration(0.3).sleep();
//at time now
transform.setOrigin( tf::Vector3(_pos_x, _pos_y, 0.0) );
transform.setRotation( tf::Quaternion(0, 0, 0, 1) );
br->sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", "tf_" + _name));
tf_tmp.setOrigin( tf::Vector3(0, 0.0, 0.0) );
tf_tmp.setRotation( tf::Quaternion(0, 0, 0, 1) );
br->sendTransform(tf::StampedTransform(tf_tmp, ros::Time::now(), "tf_" + _name, "tf_tmp" + _name));
ros::ServiceServer service = n.advertiseService("move_player_" + _policed_player, serviceCallback);
ros::Subscriber sub = n.subscribe("player_in", 1, chatterCallback);
ros::Rate loop_rate(2);
ROS_INFO("%s: node started",_name.c_str());
int count = 0;
while (ros::ok())
{
ros::spinOnce();
loop_rate.sleep();
++count;
}
return 0;
}
