int main(int argc, char *argv[]) {
QApplication a(argc, argv);
RobotController w;
w.show();
a.connect(&a, SIGNAL(lastWindowClosed()), &a, SLOT(quit()));
return a.exec();
}
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
RobotController w;
w.show();
return a.exec();
}
void quit(int sig)
{
robot.stop();
tcsetattr(kfd, TCSANOW, &cooked);
ros::shutdown();
exit(0);
}
int main(int argc, char ** argv)
{
ros::init(argc, argv, "teleop");
ros::NodeHandle n("~");
robot.init(n);
robot.start();
ros::Timer timer = n.createTimer(ros::Duration(0.05), callback);
ros::AsyncSpinner spinner(1);
spinner.start();
signal(SIGINT, quit);
char c;
bool dirty=false;
// get the console in raw mode
tcgetattr(kfd, &cooked);
memcpy(&raw, &cooked, sizeof(struct termios));
raw.c_lflag &=~ (ICANON | ECHO);
// Setting a new line, then end of file
raw.c_cc[VEOL] = 1;
raw.c_cc[VEOF] = 2;
tcsetattr(kfd, TCSANOW, &raw);
puts("Reading from keyboard");
puts("---------------------------");
puts("Use 'WASD' to translate");
puts("Use arrow keys to move head");
puts("Any other key to stop");
while (ros::ok())
{
// get the next event from the keyboard
if (read(kfd, &c, 1) < 0)
{
perror("read():");
exit(-1);
}
last = ros::Time::now();
robot.start();
switch (c)
{
case KEYCODE_W:
robot.setBaseVelocity(0.5, 0);
break;
case KEYCODE_S:
robot.setBaseVelocity(-0.5, 0);
break;
case KEYCODE_A:
robot.setBaseVelocity(0, 1.0);
break;
case KEYCODE_D:
robot.setBaseVelocity(0, -1.0);
break;
case KEYCODE_RIGHT:
robot.setHeadPosition(robot.getHeadPan() - 0.1, robot.getHeadTilt());
break;
case KEYCODE_LEFT:
robot.setHeadPosition(robot.getHeadPan() + 0.1, robot.getHeadTilt());
break;
case KEYCODE_DOWN:
robot.setHeadPosition(robot.getHeadPan(), robot.getHeadTilt() - 0.1);
break;
case KEYCODE_UP:
robot.setHeadPosition(robot.getHeadPan(), robot.getHeadTilt() + 0.1);
break;
default:
robot.setBaseVelocity(0, 0);
}
}
return 0;
}
void callback(const ros::TimerEvent&)
{
if ((ros::Time::now() - last) > ros::Duration(0.5))
robot.stop();
robot.sendCommands();
}
