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Adding rosrecord -t trigger for convenience.

This commit is contained in:
Jeremy Leibs 2009-11-16 18:36:13 +00:00
parent ab24932921
commit 267401eb59
1 changed files with 12 additions and 1 deletions
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13
tools/rosrecord/src/rosrecord/rosrecord.cpp
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@ -368,6 +368,16 @@ void do_check_subscribers_left(const ros::TimerEvent& e)
}
void do_trigger()
{
// Get a node_handle
ros::NodeHandle node_handle;
ros::Publisher pub = node_handle.advertise<std_msgs::Empty>("snapshot_trigger", 1, true);
pub.publish(std_msgs::Empty());
ros::Timer terminate_timer = node_handle.createTimer(ros::Duration(1.0), boost::bind(&ros::shutdown));
ros::spin();
}
//! Main function
int main(int argc, char **argv)
{
@ -382,7 +392,7 @@ int main(int argc, char **argv)
// Parse options
int option_char;
while ((option_char = getopt(argc,argv,"f:F:c:m:ashv")) != -1)
while ((option_char = getopt(argc,argv,"f:F:c:m:asthv")) != -1)
{
switch (option_char)
{
@ -391,6 +401,7 @@ int main(int argc, char **argv)
case 'c': g_count = atoi(optarg); break;
case 'a': check_master = true; break;
case 's': g_snapshot = true; break;
case 't': do_trigger(); return 0; break;
case 'v': g_verbose = true; break;
case 'm':
{