37 lines
929 B
C++
37 lines
929 B
C++
#include <ros/ros.h>
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#include <sensor_msgs/Range.h>
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#include <boost/asio.hpp>
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#include <boost/bind.hpp>
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#include <boost/thread.hpp>
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#include "pibot_msgs/avoid.h"
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#include <libusb-1.0/libusb.h>
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class UltrasonicNode {
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public:
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ros::NodeHandle nh;
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ros::Publisher ultrasonic_pub;
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libusb_device_handle *dev_handle;
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libusb_device **devs;
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libusb_context *ctx = NULL;
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int r;
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ssize_t cnt;
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float range;
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// boost::asio::io_service io;
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// boost::asio::serial_port serial;
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public:
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// UltrasonicNode() : nh("~"), serial(io), ultrasonic_pub(nh.advertise<sensor_msgs::Range>("ultrasonic", 1)) {
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// std::string port_name;
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// nh.param<std::string>("port", port_name, "/dev/ttyUSB0");
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// serial.open(port_name);
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// serial.set_option(boost::asio::serial_port_base::baud_rate(9600));
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// }
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UltrasonicNode();
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~UltrasonicNode();
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void readUltrasonic();
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};
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