bag_tagger.cpp

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#include <ros/ros.h>
#include <std_msgs/Header.h>
#include <tf/transform_listener.h>

#include <signal.h>
#include <termios.h>
#include <stdio.h>
#include <cstdlib>

#define KEYCODE_R 0x43 
#define KEYCODE_L 0x44
#define KEYCODE_U 0x41
#define KEYCODE_D 0x42
#define KEYCODE_Q 0x71
#define KEYCODE_E 0x65


class Teleop
{
public:
  Teleop();
  void keyLoop();

private:

  ros::NodeHandle nodehandle;
  ros::Publisher tag_pub_;
  ros::Subscriber bag_sub_;
  std_msgs::Header header;
  void bagCallback(const tf::tfMessage& msg);  
}; 


Teleop::Teleop()
{
  tag_pub_ = nodehandle.advertise<std_msgs::Header>("/timetag", 1);
  bag_sub_ = nodehandle.subscribe("/tf", 1000, &Teleop::bagCallback, this);
}

int kfd = 0;
struct termios cooked, raw;

void quit(int sig)
{
  tcsetattr(kfd, TCSANOW, &cooked);
  ros::shutdown();
  exit(0);
}


int main(int argc, char** argv)
{
  ros::init(argc, argv, "keycapture");
  Teleop teleop_turtle;

  signal(SIGINT,quit);

  ros::Rate loop_rate(10);

  while (ros::ok())
  {      
    teleop_turtle.keyLoop();
    ros::spinOnce();
    loop_rate.sleep();
  }
  
  return(0);
}


void Teleop::keyLoop()
{
  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("---------------------------");
  puts("Use arrow keys to generate tag!");

  // get the next event from the keyboard  
  if(read(kfd, &c, 1) < 0)
  {
    perror("read():");
    exit(-1);
  }

  ROS_DEBUG("value: 0x%02X\n", c);

  switch(c)
  {
    case KEYCODE_L:
      ROS_DEBUG("LEFT");
      ROS_INFO("left");
      dirty = true;
      break;
    case KEYCODE_R:
      ROS_DEBUG("RIGHT");
      ROS_INFO("right");
      dirty = true;
      break;
    case KEYCODE_U:
      ROS_DEBUG("UP");
      ROS_INFO("up");
      dirty = true;
      break;
    case KEYCODE_D:
      ROS_DEBUG("DOWN");
      ROS_INFO("down");
      dirty = true;
      break;
    case KEYCODE_Q:
      ROS_DEBUG("NEG PHI");
      ROS_INFO("neg phi");
      dirty = true;
      break;
    case KEYCODE_E:
      ROS_DEBUG("POS PHI");
      ROS_INFO("pos phi");
      dirty = true;
      break;
  }
  
  if(dirty ==true)
  {
    ROS_INFO("time:%f",header.stamp.toSec());
    tag_pub_.publish(header);    
    dirty=false;
  }
  
  return;
}

void Teleop::bagCallback(const tf::tfMessage& msg) 
{
  header.stamp = msg.transforms[0].header.stamp;    
  return;
}