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[Personalrobots-commit] SF.net SVN: personalrobots:[19414] pkg/trunk/sandbox/person_data
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From: <goo...@us...> - 2009-07-22 18:07:53
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Revision: 19414
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19414&view=rev
Author: goodfellow
Date: 2009-07-22 18:07:45 +0000 (Wed, 22 Jul 2009)
Log Message:
-----------
Wrote "debugger" listener node since ROS_INFO doesn't work
added launch files to switch the muxes
Modified Paths:
--------------
pkg/trunk/sandbox/person_data/CMakeLists.txt
pkg/trunk/sandbox/person_data/data_collector_record.launch
pkg/trunk/sandbox/person_data/person_data.launch
pkg/trunk/sandbox/person_data/src/joylistener.cpp
pkg/trunk/sandbox/person_data/startRecording.sh
pkg/trunk/sandbox/person_data/stopRecording.sh
Added Paths:
-----------
pkg/trunk/sandbox/person_data/src/debugger.cpp
pkg/trunk/sandbox/person_data/startRecording.launch
pkg/trunk/sandbox/person_data/stopRecording.launch
Removed Paths:
-------------
pkg/trunk/sandbox/person_data/src/listener.cpp
Modified: pkg/trunk/sandbox/person_data/CMakeLists.txt
===================================================================
--- pkg/trunk/sandbox/person_data/CMakeLists.txt 2009-07-22 17:15:37 UTC (rev 19413)
+++ pkg/trunk/sandbox/person_data/CMakeLists.txt 2009-07-22 18:07:45 UTC (rev 19414)
@@ -30,5 +30,5 @@
#target_link_libraries(example ${PROJECT_NAME})
rospack_add_executable(talker src/talker.cpp)
-rospack_add_executable(listener src/listener.cpp)
+rospack_add_executable(debugger src/debugger.cpp)
rospack_add_executable(joylistener src/joylistener.cpp)
Modified: pkg/trunk/sandbox/person_data/data_collector_record.launch
===================================================================
--- pkg/trunk/sandbox/person_data/data_collector_record.launch 2009-07-22 17:15:37 UTC (rev 19413)
+++ pkg/trunk/sandbox/person_data/data_collector_record.launch 2009-07-22 18:07:45 UTC (rev 19414)
@@ -18,7 +18,7 @@
<node pkg="topic_tools" type="mux" machine="two" args="/laser_tilt_controller/laser_scanner_signal_muxed /laser_tilt_controller/laser_scanner_signal"/>
<node pkg="rosrecord" type="rosrecord" machine="two" args="-f /bags/person_data/laser_ /base_scan_muxed /tilt_scan_muxed /laser_tilt_controller/laser_scanner_signal"/>
- <node pkg="topic_tools" type="mux" machine="two" args="/odom_muxed /odom">
+ <node pkg="topic_tools" type="mux" machine="two" args="/odom_muxed /odom"/>
<node pkg="rosrecord" type="rosrecord" machine="two" args="-f /bags/person_data/state_ /odom_muxed "/>
</launch>
Modified: pkg/trunk/sandbox/person_data/person_data.launch
===================================================================
--- pkg/trunk/sandbox/person_data/person_data.launch 2009-07-22 17:15:37 UTC (rev 19413)
+++ pkg/trunk/sandbox/person_data/person_data.launch 2009-07-22 18:07:45 UTC (rev 19414)
@@ -1,6 +1,7 @@
<launch>
+<node pkg="person_data" type="joylistener" output="screen"/>
-<include file="$(find person_data)/data_collector_record.launch" />
+<include file="$(find person_data)/data_collector_record.launch" />
<include file="$(find person_data)/truly_passive.launch" />
<include file="$(find pr2_alpha)/teleop_joystick.launch" />
Copied: pkg/trunk/sandbox/person_data/src/debugger.cpp (from rev 19406, pkg/trunk/sandbox/person_data/src/listener.cpp)
===================================================================
--- pkg/trunk/sandbox/person_data/src/debugger.cpp (rev 0)
+++ pkg/trunk/sandbox/person_data/src/debugger.cpp 2009-07-22 18:07:45 UTC (rev 19414)
@@ -0,0 +1,13 @@
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+void chatterCallback(const std_msgs::StringConstPtr & msg)
+{
+ ROS_INFO("Received [%s]",msg->data.c_str());
+}
+int main(int argc, char ** argv)
+{
+ ros::init(argc, argv, "debugger");
+ ros::NodeHandle n;
+ ros::Subscriber chatter_sub = n.subscribe("ia3n_debug",100,chatterCallback);
+ ros::spin();
+}
Property changes on: pkg/trunk/sandbox/person_data/src/debugger.cpp
___________________________________________________________________
Added: svn:mergeinfo
+
Modified: pkg/trunk/sandbox/person_data/src/joylistener.cpp
===================================================================
--- pkg/trunk/sandbox/person_data/src/joylistener.cpp 2009-07-22 17:15:37 UTC (rev 19413)
+++ pkg/trunk/sandbox/person_data/src/joylistener.cpp 2009-07-22 18:07:45 UTC (rev 19414)
@@ -6,6 +6,7 @@
#include <ros/ros.h>
#include <std_msgs/String.h>
#include "joy/Joy.h"
+#include <string>
const static int headButton = 6;
const static int deadmanButton = 4;
@@ -16,7 +17,16 @@
static bool headButtonPressed = false;
static bool deadmanButtonPressed = false;
+ros::Publisher debug_pub;
+void IA3N_INFO(const char * msg)
+{
+ std_msgs::String rmsg;
+ rmsg.data = std::string(msg);
+ debug_pub.publish(rmsg);
+ ROS_INFO(msg);
+}
+
void startRecording()
{
FILE * result = popen("bash `rospack find person_data`/startRecording.sh","r");
@@ -31,43 +41,43 @@
recording = false;
}
+
+
void joyCallback(const joy::Joy::ConstPtr & msg)
{
+ IA3N_INFO("Received joystick message!");
+
int n = msg->get_buttons_size();
- if (headButton >= n || deadmanButton >= n || recordButton >= n || stopButton >= n)
- {
- ROS_INFO("Received message with too few buttons");
- return;
- }
+ //messages are sized so that they are just long enough to include the last 1
- if (msg->buttons[headButton])
+ if (headButton < n && msg->buttons[headButton])
{
- ROS_INFO("Head button pushed down");
+ IA3N_INFO("Head button pushed down");
headButtonPressed = true;
}
else
{
- ROS_INFO("Head button released");
+ IA3N_INFO("Head button released");
headButtonPressed = false;
}
- if (msg->buttons[deadmanButton])
+ if (deadmanButton < n && msg->buttons[deadmanButton])
{
- ROS_INFO("Deadman button pushed down");
+ IA3N_INFO("Deadman button pushed down");
deadmanButtonPressed = true;
}
else
{
- ROS_INFO("Deadman button released");
+ IA3N_INFO("Deadman button released");
deadmanButtonPressed = false;
}
if (headButtonPressed && ! deadmanButtonPressed)
{
- if (msg->buttons[recordButton])
+ if (recordButton < n && msg->buttons[recordButton])
{
if (!recording)
{
@@ -75,11 +85,11 @@
}
else
{
- ROS_INFO("You are already recording!");
+ IA3N_INFO("You are already recording!");
}
}
- if (msg->buttons[stopButton])
+ if (stopButton < n && msg->buttons[stopButton])
{
if (recording)
{
@@ -87,7 +97,7 @@
}
else
{
- ROS_INFO("You have already stopped recording");
+ IA3N_INFO("You have already stopped recording");
}
}
}
@@ -96,7 +106,7 @@
//for ( int i = 0; i < n; i++)
//{
// if (msg->buttons[i])
- // ROS_INFO("Button %d pressed",i);
+ // IA3N_INFO("Button %d pressed",i);
//}
}
@@ -104,6 +114,8 @@
{
ros::init(argc, argv, "joylistener");
ros::NodeHandle n;
+ debug_pub = n.advertise<std_msgs::String>("ia3n_debug",100);
ros::Subscriber chatter_sub = n.subscribe("joy",100,joyCallback);
+ IA3N_INFO("joylistener subscribed to joy");
ros::spin();
}
Deleted: pkg/trunk/sandbox/person_data/src/listener.cpp
===================================================================
--- pkg/trunk/sandbox/person_data/src/listener.cpp 2009-07-22 17:15:37 UTC (rev 19413)
+++ pkg/trunk/sandbox/person_data/src/listener.cpp 2009-07-22 18:07:45 UTC (rev 19414)
@@ -1,13 +0,0 @@
-#include <ros/ros.h>
-#include <std_msgs/String.h>
-void chatterCallback(const std_msgs::StringConstPtr & msg)
-{
- ROS_INFO("Received [%s]",msg->data.c_str());
-}
-int main(int argc, char ** argv)
-{
- ros::init(argc, argv, "listener");
- ros::NodeHandle n;
- ros::Subscriber chatter_sub = n.subscribe("chatter",100,chatterCallback);
- ros::spin();
-}
Added: pkg/trunk/sandbox/person_data/startRecording.launch
===================================================================
--- pkg/trunk/sandbox/person_data/startRecording.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/startRecording.launch 2009-07-22 18:07:45 UTC (rev 19414)
@@ -0,0 +1,11 @@
+<launch>
+<include file="$(find pr2_alpha)/$(env ROBOT).machine" />
+<node pkg="topic_tools" type="switch_mux" args="/wide_stereo/raw_stereo_muxed /wide_stereo/raw_stereo" machine="four"/>
+<node pkg="topic_tools" type="switch_mux" args="/narrow_stereo/raw_stereo_muxed /narrow_stereo/raw_stereo" machine="four"/>
+<node pkg="topic_tools" type="switch_mux" args="/tf_message_muxed /tf_message" machine="two"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/mechanism_state_muxed /mechanism_state"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/base_scan_muxed /base_scan"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/tilt_scan_muxed /tilt_scan"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/laser_tilt_controller/laser_scanner_signal_muxed /laser_tilt_controller/laser_scanner_signal"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/odom_muxed /odom"/>
+</launch>
Modified: pkg/trunk/sandbox/person_data/startRecording.sh
===================================================================
--- pkg/trunk/sandbox/person_data/startRecording.sh 2009-07-22 17:15:37 UTC (rev 19413)
+++ pkg/trunk/sandbox/person_data/startRecording.sh 2009-07-22 18:07:45 UTC (rev 19414)
@@ -1 +1 @@
-echo "startRecording.sh doesn't do anything yet"
+roslaunch start_recording.launch
Added: pkg/trunk/sandbox/person_data/stopRecording.launch
===================================================================
--- pkg/trunk/sandbox/person_data/stopRecording.launch (rev 0)
+++ pkg/trunk/sandbox/person_data/stopRecording.launch 2009-07-22 18:07:45 UTC (rev 19414)
@@ -0,0 +1,10 @@
+<launch>
+<node pkg="topic_tools" type="switch_mux" args="/wide_stereo/raw_stereo_muxed /dummy" machine="four"/>
+<node pkg="topic_tools" type="switch_mux" args="/narrow_stereo/raw_stereo_muxed /dummy" machine="four"/>
+<node pkg="topic_tools" type="switch_mux" args="/tf_message_muxed /dummy" machine="two"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/mechanism_state_muxed /dummy"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/base_scan_muxed /dummy"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/tilt_scan_muxed /dummy"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/laser_tilt_controller/laser_scanner_signal_muxed /dummy"/>
+<node pkg="topic_tools" type="switch_mux" machine="two" args="/odom_muxed /dummy">
+</launch>
Modified: pkg/trunk/sandbox/person_data/stopRecording.sh
===================================================================
--- pkg/trunk/sandbox/person_data/stopRecording.sh 2009-07-22 17:15:37 UTC (rev 19413)
+++ pkg/trunk/sandbox/person_data/stopRecording.sh 2009-07-22 18:07:45 UTC (rev 19414)
@@ -1 +1 @@
-echo "stopRecording.sh doesn't do anything yet"
+roslaunch stopRecording.launch
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