60 lines
1.6 KiB
C++
60 lines
1.6 KiB
C++
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/*
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* Copyright (C) 2016 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <gazebo/gazebo_client.hh>
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#include <gazebo/transport/transport.hh>
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#include <gazebo/msgs/msgs.hh>
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#include <iostream>
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/////////////////////////////////////////////////
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int main(int _argc, char **_argv)
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{
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if (_argc <= 1)
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{
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std::cerr << "Invalid usage.\n\n"
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<< "Usage:\n harness <float_value>\n\n"
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<< "Example:\n harness -0.1\n";
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return -1;
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}
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// Load gazebo
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gazebo::client::setup(_argc, _argv);
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// Create our node for communication
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gazebo::transport::NodePtr node(new gazebo::transport::Node());
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node->Init();
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// Publish to a Gazebo topic
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gazebo::transport::PublisherPtr pub =
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node->Advertise<gazebo::msgs::GzString>("~/box/harness/velocity");
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// Wait for a subscriber to connect
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pub->WaitForConnection();
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// Convert to a pose message
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gazebo::msgs::GzString msg;
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msg.set_data(_argv[1]);
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pub->Publish(msg);
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// Make sure to shut everything down.
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gazebo::client::shutdown();
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return 0;
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}
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