Hi,

I'm trying to read user input from keyboard, inspired by turtlesim. When I compile I get this error:

In file included from /opt/ros/melodic/include/ros/ros.h:40:0,
                 from /home/alberto/tiago_dual_public_ws/src/continuos_input/src/key_reader.cpp:1:
/home/alberto/tiago_dual_public_ws/src/continuos_input/src/key_reader.cpp: In member function ‘void key_reader::keyLoop()’:
/opt/ros/melodic/include/ros/console.h:381:3: error: expected ‘;’ before ‘do’
   do \
   ^
/opt/ros/melodic/include/ros/console.h:572:35: note: in expansion of macro ‘ROS_LOG_COND’
 #define ROS_LOG(level, name, ...) ROS_LOG_COND(true, level, name, __VA_ARGS__)
                                   ^~~~~~~~~~~~
/opt/ros/melodic/include/rosconsole/macros_generated.h:58:24: note: in expansion of macro ‘ROS_LOG’
 #define ROS_DEBUG(...) ROS_LOG(::ros::console::levels::Debug, ROSCONSOLE_DEFAULT_NAME, __VA_ARGS__)
                        ^~~~~~~
/home/alberto/tiago_dual_public_ws/src/continuos_input/src/key_reader.cpp:86:17: note: in expansion of macro ‘ROS_DEBUG’
                 ROS_DEBUG("value: 0x%02X\n", c);
                 ^~~~~~~~~
make[2]: *** [CMakeFiles/key_reader.dir/src/key_reader.cpp.o] Error 1
make[1]: *** [CMakeFiles/key_reader.dir/all] Error 2
make: *** [all] Error 2
cd /home/alberto/tiago_dual_public_ws/build/continuos_input; catkin build --get-env continuos_input | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

I don't understand why. It's a read-only file so I cannot modify it. Can someone help me?

This is my complete code:

  #include "ros/ros.h"
#include <signal.h>
#include <termios.h>
#include <stdio.h>
#include "continuos_input/input_command.h"

#define KEYCODE_R 0x43
#define KEYCODE_L 0x44
#define KEYCODE_U 0x41
#define KEYCODE_D 0x42
#define KEYCODE_Q 0x71

class key_reader
{
public:
    key_reader();
    void keyLoop();

private:
    ros::NodeHandle nh_;
    int direction; //1 if left, -1 if right, 0 no input
    ros::Publisher key_pub;
};

int kfd = 0;
struct termios cooked, raw;

key_reader::key_reader()
{
    key_pub = nh_.advertise<continuos_input::input_command>("user_input", 1000);
}

void quit(int sig)
{
    tcsetattr(kfd, TCSANOW, &cooked);
    ros::shutdown();
    exit(0);
}

void key_reader::keyLoop()
{
    char c;
    bool dirty = false;
    fd_set set;
    struct timeval timeout;
    int rv;

    // get the console in raw mode
    tcgetattr(kfd, &cooked);
    memcpy(&raw, &cooked, sizeof(struct termios));
    raw.c_lflag &= ~(ICANON | ECHO);
    // Setting a new line, then end of file
    raw.c_cc[VEOL] = 1;
    raw.c_cc[VEOF] = 2;
    tcsetattr(kfd, TCSANOW, &raw);

    FD_ZERO(&set);     /* clear the set */
    FD_SET(kfd, &set); /* add our file descriptor to the set */

    timeout.tv_sec = 0;
    timeout.tv_usec = 10000;

    puts("Reading from keyboard");
    puts("---------------------------");
    puts("Use arrow keys to move the turtle.");

    ros::Rate r(10);
    while (ros::ok())
    {
        // get the next event from the keyboard
        rv = select(kfd + 1, &set, NULL, NULL, &timeout);
        if (rv == -1)
        {
            perror("select:"); /* an error accured */
            exit(-1);
        }
        else if (rv == 0)
        {
            printf("Timeout"); /* a timeout occured */
            direction = 0;
        }
        else
        {
            read(kfd, &c, 1)

                ROS_DEBUG("value: 0x%02X\n", c);

            switch (c)
            {
            case KEYCODE_L:
                ROS_DEBUG("LEFT");
                direction = 1;
                dirty = true;
                break;
            case KEYCODE_R:
                ROS_DEBUG("RIGHT");
                direction = -1;
                dirty = true;
                break;
            }
            r.sleep();
        }
    }
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "key_reader");
    key_reader kr;

    signal(SIGINT, quit);

    kr.keyLoop();

    return (0);
}