int main(int argc, char** argv)
{
ros::init(argc, argv, "sounds");
ros::NodeHandle nh;
sound_play::SoundClient sc;
sleepok(1, nh);
while(nh.ok()){
sc.startWave(sound_directory + getRandomSound());
sleepok(900, nh); //sleep for fifteen minutes 900 seconds
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "jetsonbot_teleop");
ros::NodeHandle nh ;
// For some reason, this sound client needs to be defined in main
// for sound to work.
// Need to investigate -- jlb 8-1-15
sound_play::SoundClient sc ;
JetsonbotTeleop jetsonbot_teleop;
// sc.say("Hello World!") ;
// Hard coded for now
sleepok(1,nh);
sc.playWave("/home/ubuntu/jetsonbot/sounds/StartupSounds/BritMale/InitializeChecks.wav") ;
sleepok(4,nh);
sc.playWave("/home/ubuntu/jetsonbot/sounds/StartupSounds/BritMale/PowerNominal.wav") ;
sleepok(4,nh);
sc.playWave("/home/ubuntu/jetsonbot/sounds/StartupSounds/BritMale/WirelessNetwork.wav") ;
sleepok(5,nh);
sc.playWave("/home/ubuntu/jetsonbot/sounds/StartupSounds/BritMale/3DCamera.wav") ;
sleepok(3,nh);
sc.playWave("/home/ubuntu/jetsonbot/sounds/StartupSounds/BritMale/ControllerLink.wav") ;
sleepok(3,nh);
sc.playWave("/home/ubuntu/jetsonbot/sounds/StartupSounds/BritMale/JetsonBotActive.wav") ;
sleepok(7,nh);
// sc.say("Initialization Checks Commencing");
// sleepok(3,nh);
ros::spin();
// Set the follower service off if it is available
// Turn off the follower
ros::NodeHandle nodeHandle ;
ros::ServiceClient serviceClient = nodeHandle.serviceClient<turtlebot_msgs::SetFollowState>("/turtlebot_follower/change_state");
turtlebot_msgs::SetFollowState srv ;
srv.request.state=1 ;
if (serviceClient.call(srv))
{
ROS_INFO("Follower state changed to: %d",srv.request.state);
}
else
{
ROS_ERROR("Failed call to service turtlebot_follower/change_state %d",srv.response.result);
}
}
void JetsonbotTeleop::publish()
{
boost::mutex::scoped_lock lock(publish_mutex_);
if (deadman_pressed_)
{
vel_pub_.publish(last_published_);
zero_twist_published_=false;
}
else if(!deadman_pressed_ && !zero_twist_published_)
{
vel_pub_.publish(*new geometry_msgs::Twist());
zero_twist_published_=true;
}
#if 0
ROS_ERROR("aPressed: (%d)", aPressed);
ROS_ERROR("bPressed: (%d)", bPressed);
ROS_ERROR("xPressed: (%d)", xPressed);
ROS_ERROR("leftPressed: (%d)", leftPressed);
ROS_ERROR("rightPressed: (%d)", rightPressed);
#endif
sound_play::SoundClient soundClient ;
if (aPressed) {
//ROS_ERROR("APRESSED: (%d)", aPressed);
soundClient.playWave(buttonASound) ;
sleepok(1,ph_) ;
}
if (bPressed) {
//ROS_ERROR("BPRESSED: (%d)", bPressed);
soundClient.playWave(buttonBSound) ;
sleepok(1,ph_) ;
}
if (yPressed) {
//ROS_ERROR("YPRESSED: (%d)", yPressed);
soundClient.playWave(buttonYSound) ;
sleepok(1,ph_) ;
}
if (xPressed) {
//ROS_ERROR("XPRESSED: (%d)", xPressed);
soundClient.playWave(buttonXSound) ;
sleepok(1,ph_) ;
}
if (leftPressed) {
//ROS_ERROR("LEFTPRESSED: (%d)", leftPressed);
sound_play::SoundClient soundClient ;
soundClient.stopAll() ;
}
if (rightPressed) {
// ROS_ERROR("RIGHTPRESSED: (%d)", rightPressed);
soundClient.playWave(buttonRightSound) ;
sleepok(1,ph_) ;
}
if (appPressed) {
if (followerOn) {
soundClient.playWave(buttonAppSoundOff) ;
sleepok(1,ph_) ;
} else {
soundClient.playWave(buttonAppSoundOn) ;
sleepok(1,ph_) ;
}
followerOn = !followerOn ;
// Set the follower service off if it is available
ros::NodeHandle nodeHandle ;
ros::ServiceClient serviceClient = nodeHandle.serviceClient<turtlebot_msgs::SetFollowState>("/turtlebot_follower/change_state");
turtlebot_msgs::SetFollowState srv ;
// Turn off the follower
srv.request.state=followerOn ;
if (serviceClient.call(srv))
{
ROS_INFO("Follower state changed to: %d",srv.request.state);
}
else
{
ROS_ERROR("Failed call to service turtlebot_follower/change_state %d",srv.response.result);
}
}
if (rightTrigger) {
#if 0
geometry_msgs::Twist vel;
vel.angular.z = a_scale_*((rightTrigger+1)/2);
vel.linear.x = 0 ;
last_published_ = vel;
deadman_pressed_ = false;
vel_pub_.publish(last_published_);
zero_twist_published_=false;
#endif
// ROS_ERROR("rightTrigger: (%f)", rightTrigger);
rightTrigger=0;
}
if (leftTrigger) {
#if 0
geometry_msgs::Twist vel;
vel.angular.z = a_scale_*((leftTrigger-1)/2);
vel.linear.x = 0 ;
last_published_ = vel;
deadman_pressed_ = false;
vel_pub_.publish(last_published_);
zero_twist_published_=false;
#endif
// ROS_ERROR("leftTrigger: (%f)", leftTrigger);
leftTrigger=0;
}
if (crossHorizontal) {
if (crossHorizontal < 0.0) {
geometry_msgs::Twist twist;
twist.angular.z=1.57/2 ;
for (int i = 0 ; i < 10 ; i++) {
vel_pub_.publish(twist) ;
// sleepok(0,ph_) ;
}
} else {
if (crossHorizontal > 0.0) {
geometry_msgs::Twist twist;
twist.angular.z=-1.57/2 ;
for (int i = 0 ; i < 10 ; i++) {
vel_pub_.publish(twist) ;
//sleepok(0,ph_) ;
}
}
}
}
}
