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nudge_local_example.cpp
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nudge_local_example.cpp
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#include <tough_controller_interface/arm_control_interface.h>
#include <stdlib.h>
#include <stdio.h>
#include <std_msgs/String.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "test_nudgeLocal");
ros::NodeHandle nh;
ArmControlInterface armTraj(nh);
ros::Duration(0.5).sleep();
if (argc == 3)
{
std::string side_str;
RobotSide side;
if (std::atoi(argv[1]) == 0)
{
side = LEFT;
side_str = "left";
}
else
{
side = RIGHT;
side_str = "right";
}
direction dir = (direction)std::atoi(argv[2]);
armTraj.nudgeArm(side, dir);
// armTraj.nudgeArmLocal(side, dir);
}
else if (argc == 4)
{
std::string side_str;
RobotSide side;
if (std::atoi(argv[1]) == 0)
{
side = LEFT;
side_str = "left";
}
else
{
side = RIGHT;
side_str = "right";
}
direction dir = (direction)std::atoi(argv[2]);
float step_size = std::atof(argv[3]);
armTraj.nudgeArm(side, dir);
// armTraj.nudgeArmLocal(side, dir, step_size);
}
else
{
return 1;
}
ros::spinOnce();
ros::Duration(2).sleep();
return 0;
}