int main(int argc, char **argv) {
if (argc < 2) {
printf("\nusage: relay TOPIC [VARIANT_TOPIC]\n\n");
return 1;
}
if (!getTopicBase((argv[1]), publisherTopic)) {
ROS_ERROR("Failed to extract topic base from [%s]", argv[1]);
return 1;
}
ros::init(argc, argv, publisherTopic+"_relay",
ros::init_options::AnonymousName);
if (argc == 2)
publisherTopic = std::string(argv[1])+"_relay";
else
publisherTopic = argv[2];
subscriberTopic = argv[1];
nodeHandle.reset(new ros::NodeHandle("~"));
bool unreliable = false;
nodeHandle->getParam("unreliable", unreliable);
nodeHandle->getParam("lazy", lazy);
if (unreliable)
subscriberTransportHints.unreliable().reliable();
subscribe();
ros::spin();
return 0;
}
void getNamePrefix() {
if (!nodeHandle->getParam("batteryDiagnosticsPublisherNode", namePrefix)) {
ROS_INFO_STREAM("No prefix parameter specified. using: nifti_robot_driver");
namePrefix = "nifti_robot_driver";
}
}
int init()
{
// Use global namespace for node
node_ = ros::NodeHandlePtr(new ros::NodeHandle());
// Get tf_prefix from global namespace
node_->param("tf_prefix", tf_prefix_, std::string(""));
// Use private namespace for parameters
pnode_ = ros::NodeHandlePtr(new ros::NodeHandle("~"));
pnode_->param("publish_rate", publish_rate_, PUBLISH_RATE);
pnode_->param("fixed_frame_id", fixed_frame_id_, std::string("odom"));
fixed_frame_id_ = tf::resolve(tf_prefix_, fixed_frame_id_);
pnode_->param("publish_odom_tf", publish_odom_tf_, true);
pnode_->param("crio/ip", crio_ip_, std::string("127.0.0.1"));
pnode_->param("crio/command_port", crio_cmd_port_, std::string("39000"));
pnode_->param("crio/state_port", crio_state_port_, std::string("39001"));
pnode_->param("crio/socket_timeout", socket_timeout_, 10);
VehicleKinematics::Parameters kin_params;
tfScalar minimum_radius_outer;
if (!pnode_->getParam("kinematics/frame_id", kin_params.frame_id))
{
ROS_WARN_STREAM(pnode_->getNamespace() << "/kinematics/frame_id parameter is not set");
}
else
{
kin_params.frame_id = tf::resolve(tf_prefix_, kin_params.frame_id);
}
if (!pnode_->getParam("kinematics/wheelbase", kin_params.wheelbase_length))
{
ROS_FATAL_STREAM(pnode_->getNamespace() << "/kinematics/wheelbase parameter is not set");
return -1;
}
if (!pnode_->getParam("kinematics/track", kin_params.track_width))
{
ROS_FATAL_STREAM( pnode_->getNamespace() << "/kinematics/track parameter is not set");
return -1;
}
if (!pnode_->getParam("kinematics/rotation_center", kin_params.rotation_center))
{
ROS_WARN_STREAM(
pnode_->getNamespace()
<< "/kinematics/rotation_center parameter is not set. Using default: wheelbase/2 = "
<< kin_params.wheelbase_length / 2);
kin_params.rotation_center = kin_params.wheelbase_length / 2;
}
if (!pnode_->getParam("kinematics/minimum_radius_outer", minimum_radius_outer))
{
ROS_FATAL_STREAM(pnode_->getNamespace() << "/kinematics/minimum_radius_outer parameter is not set");
return -1;
}
else
{
kin_params.minimum_radius = minimum_radius_outer - kin_params.track_width / 2;
}
if (!pnode_->getParam("kinematics/steering_ratio", kin_params.steering_ratio))
{
ROS_FATAL_STREAM(pnode_->getNamespace() << "/kinematics/steering_ratio parameter is not set");
return -1;
}
// kin_(2.7, 1.626, 1.35);
kin_ = boost::make_shared<VehicleKinematics>(kin_params);
sub_ = node_->subscribe<kut_ugv_msgs::MotionCommandStamped>("motion_command", 200,
&CompactRIOCommunicationNode::motionCommand, this);
odom_pub_ = node_->advertise<nav_msgs::Odometry>("odom", 200);
state_pub_ = node_->advertise<kut_ugv_vehicle::StateStamped>("state", 200);
tf_br_ = boost::shared_ptr<tf::TransformBroadcaster>(new tf::TransformBroadcaster);
timeout_ = boost::posix_time::seconds(socket_timeout_);
send_ep_ = udp::endpoint(boost::asio::ip::address::from_string(crio_ip_), std::atoi(crio_cmd_port_.c_str()));
receive_ep_ = udp::endpoint(udp::v4(), std::atoi(crio_state_port_.c_str()));
socket_.open(udp::v4());
deadline_.expires_at(boost::posix_time::pos_infin);
this->deadlineCallback(deadline_, socket_);
return 0;
}
