trajectory_executive.cpp

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#ifndef _traj_executor_CPP_
#define _traj_executor_CPP_

//Includes
#include <ros/ros.h>
#include <trajectory_planner/c_trajectory.h>
#include <trajectory_planner/c_manage_trajectory.h>
#include <atlasmv_base/AtlasmvStatus.h>
#include <atlasmv_base/AtlasmvMotionCommand.h>
#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <math.h>
#include <boost/lexical_cast.hpp>
#include <boost/format.hpp>
#include <trajectory_planner/traj_info.h>

// Global vars
ros::Publisher commandPublisher;
trajectory_planner::traj_info info;
atlasmv_base::AtlasmvMotionCommand command;
ros::NodeHandle* p_n;
double dist_init;
atlasmv_base::AtlasmvStatus base_status;


void send_command_message(int current_node)
{
        if(current_node != -1 && static_cast<int>(info.alpha.size())>current_node)
        {
                command.dir=info.alpha[current_node];
                command.speed= info.speed[current_node];
                command.lifetime=INFINITY;
                command.priority=2;
                std::cout<<"DIR -> "<<command.dir<<std::endl;
                std::cout<<"SPEED -> "<<command.speed<<std::endl;
        }
        else
        {
                command.dir=0.0;
                command.speed=0.0;
                command.lifetime=INFINITY;
                command.priority=2;
        }
        command.header.stamp=ros::Time::now();
        commandPublisher.publish(command);
        struct timeval tv;
     struct timezone tz;
     struct tm *tm;
     gettimeofday(&tv, &tz);
     tm=localtime(&tv.tv_sec);
     printf("Tempooexec %d:%02d:%02d %d \n", tm->tm_hour, tm->tm_min,
              tm->tm_sec, tv.tv_usec);
}


bool jump_node(double dist_init,int node)
{
        if(node!=-1 && static_cast<int>(info.arc.size())>node)
        {
                if(info.arc[node]>0)
                {
                        if(info.total_arc[node] <= (base_status.distance_traveled-dist_init))
                        {
                                return true;
                        }
                }
                else
                {
                        if(info.total_arc[node] >= (base_status.distance_traveled-dist_init))
                        {
                                return true;
                        }
                }
        }
        return false;
}


void StatusMessageHandler(const atlasmv_base::AtlasmvStatus& msg)
{
        base_status=msg;
}


void Info_handler(const trajectory_planner::traj_info& msg)
{
        info=msg;
        dist_init= base_status.distance_traveled;
//      cout<<"DISTANCE TRAVELED "<< dist_init<<endl;
}


int main(int argc, char **argv)
{
        ros::init(argc, argv, "trajectory_executor_nodelet");
        ros::NodeHandle n("~");
        p_n=&n;

        //Define the publishers and subscribers
        ros::Subscriber subscribe_traj_info = n.subscribe ("/trajectory_information", 1, Info_handler);
        ros::Subscriber subscribeStatusMessages = n.subscribe ("/atlasmv/base/status", 1, StatusMessageHandler); 
        ros::Rate loop_rate(10);

        // Follow chosen trajectory
        commandPublisher = n.advertise<atlasmv_base::AtlasmvMotionCommand>("/atlasmv/base/motion", 1);
        int node=0;

        while(ros::ok())
        {       
                loop_rate.sleep();
                ros::spinOnce();
                
                if(info.arc.size()==0)
                        continue;
                
                //   ___________________________________
                //   |                                 |
                //   |        Trajectory execution     |
                //   |_________________________________| 
                
                bool jump_to_next_node = jump_node(dist_init,node);
                if(jump_to_next_node)
                {
                        if(node==static_cast<int>((info.arc.size()-1)))
                        {
                                node=-1;
                        }
                        else
                        {
                                node++;
                        }
                }
//              cout<<"NODE "<<node<<" distance "<<base_status.distance_traveled<<endl;

                send_command_message(node);
                
        }
}
#endif