/**************************************************************************
???Date:??????16?Feb.?2014
???File:??????android_teleop.cpp
???Function:??use?your?Android?phone?to?control?the?robot?
???Description:?
??????????????1）?http://wiki.ros.org/ROSARIA/Tutorials/iPhone%20Teleop%20with%20ROSARIA/Android%20teleop%20Pioneer%203at
??????????????2）?you?need?to?download?ROS?Sensor?Drive?to?your?phone
**************************************************************************/

???#include?
???#include?“geometry_msgs/Twist.h“
???#include?“rosaria/BumperState.h“
???#include?“sensor_msgs/Imu.h“
???#include?
???#include?
???
???
???using?geometry_msgs::Twist;
???using?namespace?std;
???
???ros::Publisher?vel_pub;
???ros::Time?t1;
???Twist?vel;
???int?kfd?=?0;
???struct?termios?cooked?raw;
???unsigned?int?temp=0;
???float?x;
???float?y;
???float?z;
???
???
???void?quit（int?sig）
???{
???????tcsetattr（kfd?TCSANOW?&cooked）;
???????ros::shutdown（）;
???????exit（0）;
???}
???

???void?anCallback（const?sensor_msgs::Imu::ConstPtr&?ansmsg）
???{
???????x=ansmsg->angular_velocity.x;
???????y=ansmsg->angular_velocity.y;
???????z=ansmsg->angular_velocity.z;?
???}


???int?main（int?argc?char**?argv）
???{?
???????int?ther=3;
???
???????ros::init（argc?argv?“android_teleop“）;
???????ros::NodeHandle?n;
???????vel_pub?=?n.advertise（“/RosAria/cmd_vel“?1）;??
???????signal（SIGINTquit）;
???????ros::Rate?r（5）;

???????char?c;
???????bool?dirty=false;???
???????t1=ros::Time::now（）;
???
???????tcgetattr（kfd?&cooked）;
???????memcpy（&raw?&cooked?sizeof（struct?termios））;
???????raw.c_lflag?&=~?（ICANON?|?ECHO）;
???????raw.c_cc[VEOL]?=?1;
???????raw.c_cc[VEOF]?=?2;
???????tcsetattr（kfd?TCSANOW?&raw）;
???
???????//subscribe?to?android?imu?sensor?msgs
???????ros::Subscriber?imu_pub?=?n.subscribe（“/android/imu“?1?anCallback）;
????
???
???????while?（ros::ok（））
???????{?????
?????????if（x?>?ther）
?????????{
???????????vel.linear.x?=?0.2;
???????????vel.linear.y=0;
???????????vel.linear.z=0;
???????????vel.angular.x?=?0;
???????????vel.angular.y?=?0;
???????????vel.angular.z?=?0;
???????????ROS_INFO（“forward“）;??
?????????}

?????????if（x??????????{
???????????vel.linear.x?=?-0.2;
???????????vel.linear.y=0;
???????????vel.linear.z=0;
???????????vel.angular.x?=?0;
???????????vel.angular.y?=?0;
???????????vel.angular.z?=?0;
???????????ROS_INFO（“Backward“）;
?????????}
???????
?????????if（z?>?ther）
?????????{
???????????vel.linear.x?=?0;
???????????vel.linear.y=0;
???????????vel.linear.z=0;
???????????vel.angular.x?=?0;
???????????vel.angular.y?=?0;
???????????vel.angular.z?=?0.5;
???????????ROS_INFO（“Turnleft“）;
?????????}
?
?????????if（z??????????{
???????????vel.linear.x?=?0;
???????????vel.linear.y=0;
???????????vel.linear.z=0;
???????????vel.angular.x?=?0;
???????????vel.angular.y?=?0;
???????????vel.angular.z?=?-0.5;
???????????ROS_INFO（“Turnright“）;
?????????}
?
?????????if（y??????????{
??

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????3609??2014-08-18?08:28??pioneer3_control_ros-master\android_teleop.cpp

?????文件??????27591??2014-08-18?08:28??pioneer3_control_ros-master\AriaRobot.h

?????文件???????1179??2014-08-18?08:28??pioneer3_control_ros-master\cfg\RosAria.cfg

?????文件???????5055??2014-08-18?08:28??pioneer3_control_ros-master\CMakeLists.txt

????.......????????56??2014-08-18?08:28??pioneer3_control_ros-master\msg\BumperState.msg

?????文件???????2255??2014-08-18?08:28??pioneer3_control_ros-master\p3_kinect.cpp

?????文件???????4550??2014-08-18?08:28??pioneer3_control_ros-master\p3_sonar.cpp

?????文件??????11307??2017-10-18?11:35??pioneer3_control_ros-master\p3_sonar_following_moving_object.cpp

?????文件???????2094??2014-08-18?08:28??pioneer3_control_ros-master\package.xml

?????文件?????487293??2014-08-18?08:28??pioneer3_control_ros-master\pioneer3_control_ros_18AUG14.pdf

?????文件???????1295??2014-08-18?08:28??pioneer3_control_ros-master\readme.txt

?????文件????????738??2014-08-18?08:28??pioneer3_control_ros-master\robotDemo.cpp

?????文件????????913??2014-08-18?08:28??pioneer3_control_ros-master\robotWander.cpp

?????文件???????2365??2014-08-18?08:28??pioneer3_control_ros-master\rob_key.cpp

?????文件??????13451??2014-08-18?08:28??pioneer3_control_ros-master\rob_key_multi_robot_con_separately.cpp

?????文件????????622??2014-08-18?08:28??pioneer3_control_ros-master\RosAria.cpp

?????文件??????22962??2014-08-18?08:28??pioneer3_control_ros-master\RosAria_original.cpp

?????文件???????2642??2014-08-18?08:28??pioneer3_control_ros-master\rosRemoteTest.launch

?????文件????????972??2014-08-18?08:28??pioneer3_control_ros-master\test_cmd.cpp

?????文件???????1443??2014-08-18?08:28??pioneer3_control_ros-master\test_record_data.cpp

?????目錄??????????0??2014-08-18?08:28??pioneer3_control_ros-master\cfg

?????目錄??????????0??2014-08-18?08:28??pioneer3_control_ros-master\msg

?????目錄??????????0??2017-03-27?11:17??pioneer3_control_ros-master\pioneer3_control_ros-master

?????目錄??????????0??2017-03-27?11:17??pioneer3_control_ros-master

-----------?---------??----------?-----??----

???????????????592392????????????????????24