57 lines
1.6 KiB
C++
57 lines
1.6 KiB
C++
/*
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* Copyright (C) 2014 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 <vector>
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#include <iostream>
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#include "gazebo/transport/transport.hh"
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#include "gazebo/msgs/msgs.hh"
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int main(int _argc, char** _argv)
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{
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gazebo::client::setup(_argc, _argv);
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std::vector<std::string> arrangementNames;
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arrangementNames.push_back("default");
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arrangementNames.push_back("cricket_ball");
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arrangementNames.push_back("wood_blocks");
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arrangementNames.push_back("wood_blocks_stack");
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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 = node->Advertise<gazebo::msgs::GzString>
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("~/arrange");
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int i = 0;
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while (true)
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{
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std::cout << "Setting arrangement to: " << arrangementNames[i] << std::endl;
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gazebo::msgs::GzString msg;
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msg.set_data(arrangementNames[i]);
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pub->Publish(msg);
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i = (i+1) % arrangementNames.size();
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gazebo::common::Time::MSleep(1000);
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}
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gazebo::client::shutdown();
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}
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