robot_information_parser.cpp

// Copyright 1996-2023 Cyberbotics Ltd.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <signal.h>
#include "ros/ros.h"

// include files to use services like 'robot_get_time'.
// srv files needed to use webots service can be found in the /srv folder where you found this example.
// for more info on how to create and use services with ROS refer to their website: http://wiki.ros.org/
// here 'webots_ros' is the name of the package used for this node. Replace it by your own package.
#include <webots_ros/robot_get_device_list.h>

#include <webots_ros/get_int.h>
#include <webots_ros/get_string.h>

// include files to use standard message types in topic
// Webots only use basic messages type defined in ROS library
#include <std_msgs/String.h>

#define TIME_STEP 32

void quit(int sig) {
  ROS_INFO("User stopped the 'robot_information_parser' node.");
  ros::shutdown();
  exit(0);
}

int main(int argc, char **argv) {
  std::string controllerName;
  std::vector<std::string> deviceList;
  // create a node named 'robot_information_parser' on ROS network
  ros::init(argc, argv, "robot_information_parser", ros::init_options::AnonymousName);
  ros::NodeHandle n;

  signal(SIGINT, quit);

  // Wait for the `ros` controller.
  ros::service::waitForService("/robot/time_step");
  ros::spinOnce();

  // call get_model services to get more general information about the robot
  ros::ServiceClient getModelClient = n.serviceClient<webots_ros::get_string>("/robot/get_model");
  webots_ros::get_string getModelSrv;

  if (getModelClient.call(getModelSrv)) {
    if (!getModelSrv.response.value.empty())
      ROS_INFO("The model of this robot is %s.", getModelSrv.response.value.c_str());
    else
      ROS_ERROR("The robot doesn't seems to have a model.");
  } else
    ROS_ERROR("Could not get the model of this robot.");

  // call deviceList service to get the list of the name of the devices available on the controller and print it
  // the deviceListSrv object contains 2 members: request and response. Their fields are described in the corresponding .srv
  // file
  ros::ServiceClient deviceListClient = n.serviceClient<webots_ros::robot_get_device_list>("/robot/get_device_list");
  webots_ros::robot_get_device_list deviceListSrv;

  if (deviceListClient.call(deviceListSrv)) {
    deviceList = deviceListSrv.response.list;
    ROS_INFO("The controller has %lu devices availables:", deviceList.size());
    for (unsigned int i = 0; i < deviceList.size(); i++)
      ROS_INFO("Device [%d]: %s.", i, deviceList[i].c_str());
  } else
    ROS_ERROR("Failed to call service deviceList.");
}