From 24b6c756da986ae36e0add4d12d3a65c71696e55 Mon Sep 17 00:00:00 2001
From: wangzheqie <wangzheqie@qq.com>
Date: Fri, 23 Apr 2021 18:42:07 +0800
Subject: [PATCH] add example

---
 ranger_base/CMakeLists.txt              |  2 +-
 ranger_examples/CMakeLists.txt          |  5 ++-
 ranger_examples/src/change_the_mode.cpp | 39 ++++++++++++++++++++++
 ranger_examples/src/control_the_car.cpp | 44 +++++++++++++++++++++++++
 4 files changed, 88 insertions(+), 2 deletions(-)
 create mode 100644 ranger_examples/src/change_the_mode.cpp
 create mode 100644 ranger_examples/src/control_the_car.cpp

diff --git a/ranger_base/CMakeLists.txt b/ranger_base/CMakeLists.txt
index 9824a35..1b1a1a9 100644
--- a/ranger_base/CMakeLists.txt
+++ b/ranger_base/CMakeLists.txt
@@ -114,7 +114,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-#  INCLUDE_DIRS include
+  INCLUDE_DIRS include
 #  LIBRARIES ranger_base
 #  CATKIN_DEPENDS controller_manager geometry_msgs ranger_msgs roscpp roslaunch sensor_msgs topic_tools ugv_sdk
 #  DEPENDS system_lib
diff --git a/ranger_examples/CMakeLists.txt b/ranger_examples/CMakeLists.txt
index 3f65d3b..dfb1067 100644
--- a/ranger_examples/CMakeLists.txt
+++ b/ranger_examples/CMakeLists.txt
@@ -139,7 +139,10 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/ranger_examples_node.cpp)
+add_executable(change_the_mode src/change_the_mode.cpp)
+target_link_libraries(change_the_mode ${catkin_LIBRARIES})
+add_executable(control_the_car src/control_the_car.cpp)
+target_link_libraries(control_the_car ${catkin_LIBRARIES})
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
diff --git a/ranger_examples/src/change_the_mode.cpp b/ranger_examples/src/change_the_mode.cpp
new file mode 100644
index 0000000..cfe3c25
--- /dev/null
+++ b/ranger_examples/src/change_the_mode.cpp
@@ -0,0 +1,39 @@
+/**
+ * @Kit       : Qt-Creator: Desktop
+ * @Author    : Wang Zhe
+ * @Date      : 2021-04-23  18:20:58
+ * @FileName  : change_the_mode.cpp
+ * @Mail      : zhe.wang@agilex.ai
+ * Copyright  : AgileX Robotics (2021)
+ **/
+#include <memory>
+
+#include <nav_msgs/Odometry.h>
+#include <ros/ros.h>
+
+#include "ranger_base/ranger_messenger.hpp"
+#include "ugv_sdk/ranger_base.hpp"
+
+using namespace westonrobot;
+
+std::shared_ptr<RangerBase> robot;
+
+int main(int argc, char *argv[]) {
+  // setup ROS node
+  ros::init(argc, argv, "change_the_mode");
+  ros::NodeHandle node(""), private_node("~");
+
+  // instantiate a robot object
+  robot = std::make_shared<RangerBase>();
+
+  robot->Connect("can0");
+  robot->EnableCommandedMode();
+
+  // publish robot state at 50Hz while listening to twist commands
+  ros::Rate rate(50);
+  while (ros::ok()) {
+    ros::spinOnce();
+    rate.sleep();
+  }
+  return 0;
+}
diff --git a/ranger_examples/src/control_the_car.cpp b/ranger_examples/src/control_the_car.cpp
new file mode 100644
index 0000000..cbd7875
--- /dev/null
+++ b/ranger_examples/src/control_the_car.cpp
@@ -0,0 +1,44 @@
+/**
+ * @Kit       : Qt-Creator: Desktop
+ * @Author    : Wang Zhe
+ * @Date      : 2021-04-23  18:20:37
+ * @FileName  : control_the_car.cpp
+ * @Mail      : zhe.wang@agilex.ai
+ * Copyright  : AgileX Robotics (2021)
+ **/
+
+#include <memory>
+
+#include <nav_msgs/Odometry.h>
+#include <ros/ros.h>
+
+#include "ranger_base/ranger_messenger.hpp"
+#include "ugv_sdk/ranger_base.hpp"
+
+using namespace westonrobot;
+
+std::shared_ptr<RangerBase> robot;
+
+
+int main(int argc, char *argv[]) {
+  // setup ROS node
+  ros::init(argc, argv, "control_the_car");
+  ros::NodeHandle node(""), private_node("~");
+
+  // instantiate a robot object
+  robot = std::make_shared<RangerBase>();
+
+  robot->Connect("can0");
+  robot->EnableCommandedMode();
+
+
+
+
+  // publish robot state at 50Hz while listening to twist commands
+  ros::Rate rate(50);
+  while (ros::ok()) {
+    ros::spinOnce();
+    rate.sleep();
+  }
+  return 0;
+}