27 #include <geometry_msgs/Pose.h>
28 #include <geometry_msgs/PoseStamped.h>
30 #include <p2os_msgs/MotorState.h>
31 #include <tf/transform_datatypes.h>
33 int main(
int argc,
char** argv )
35 ros::init(argc,argv,
"p2os");
42 ROS_ERROR(
"p2os setup failed..." );
58 ros::Time currentTime = ros::Time::now();
59 ros::Duration pulseInterval = currentTime - lastTime;
60 if( pulseInterval.toSec() > p->
get_pulse() )
62 ROS_DEBUG (
"sending pulse" );
64 lastTime = currentTime;
80 ROS_WARN(
"p2os shutdown failed... your robot might be heading for the wall?" );
84 ROS_INFO(
"Quitting... " );
int main(int argc, char **argv)
int SendReceive(P2OSPacket *pkt, bool publish_data=true)
void check_and_set_gripper_state()
int Setup()
Setup the robot for use. Communicates with the robot directly.
int Shutdown()
Prepare for shutdown.
void check_and_set_motor_state()