node keyboard_cmd displays UTF-8

CMakeLists.txt

@@ -13,7 +13,7 @@ find_package(
   PkgConfig REQUIRED
 )
 
-pkg_check_modules ( ncurses REQUIRED ncurses )
+pkg_check_modules ( ncursesw REQUIRED ncursesw)
 
 add_message_files(
   FILES
@@ -30,7 +30,7 @@ catkin_package()
 
 include_directories(
   ${catkin_INCLUDE_DIRS}
-  ${CURSES_INCLUDE_DIRS}
+  ${CURSESW_INCLUDE_DIRS}
 )
 
 add_executable(filtre src/filtre.cpp)
@@ -42,10 +42,10 @@ target_link_libraries(random_pcl_publisher ${catkin_LIBRARIES})
 add_executable(pcl_displayer src/pcl_displayer.cpp)
 target_link_libraries(pcl_displayer ${catkin_LIBRARIES})
 
-add_library(curses src/curses.cpp src/curses.h)
+add_library(display src/display.cpp)
 
 add_executable(keyboard_cmd src/keyboard_cmd.cpp)
-target_link_libraries(keyboard_cmd ${catkin_LIBRARIES} ${ncurses_LIBRARIES} curses)
+target_link_libraries(keyboard_cmd display ${catkin_LIBRARIES} ${ncursesw_LIBRARIES})
 
 add_executable(normal_estimator src/normal_estimator.cpp)
 target_link_libraries(normal_estimator ${catkin_LIBRARIES})

src/curses.cpp → src/display.cpp

@@ -1,5 +1,5 @@
 #include <ncurses.h>
-#include "curses.h"
+#include "display.h"
 
 const int Curses::kbd_lines = 12;
 const int Curses::kbd_columns = 50;
@@ -22,8 +22,6 @@ Curses::~Curses() {
 }
 
 void Curses::print_kbd() {
-  wprintw(kbd,"%s", L"tuiiaueakeoff>|  t|⇑ y|↖ u|↑ i|↗ o|");
-  wprintw(kbd,"%s", "tuiiaueakeoff>|  t|⇑ y|↖ u|↑ i|↗ o|");
   wmove(kbd, 0, 0); waddstr(kbd, "        ---------------------");
   wmove(kbd, 1, 0); waddstr(kbd, "takeoff>|  t|⇑ y|↖ u|↑ i|↗ o|");
   wmove(kbd, 2, 0); waddstr(kbd, "        |---|---|---|---|---|----");

src/keyboard_cmd.cpp

@@ -5,8 +5,9 @@
 #include <string>
 #include <ros/ros.h>
 #include <ros/time.h>
-
+#include <locale.h>
-#include "curses.h"
+#include <ncurses.h>
+#include "display.h"
 
 #include <std_msgs/Empty.h>
 #include <geometry_msgs/Twist.h>
@@ -30,9 +31,6 @@ class Run
 
   public:
     Run() :
-      n(),
-      empty(),
-      term(),
       loop_rate(30),
       x_speed(0.2),
       y_speed(0.3),
@@ -46,23 +44,6 @@ class Run
 
     void operator()()
     {
-
-    /*
-      std::cout
-        <<"        ---------------------\n"
-        <<"takeoff>|  t|⇑ y|↖ u|↑ i|↗ o|\n"
-        <<"        |---|---|---|---|---|----\n"
-        <<"  reset>|  g|⇐ h|← j|  k|→ l|⇒ m|\n"
-        <<"        |---|---|---|---|---|----\n"
-        <<"   land>|  b|⇓ n|↙ ,|↓ ;|↘ :|\n"
-        <<"        ---------------------\n"
-        <<"\n"
-        <<"a/w : increase/decrease linear `x` speeds by 10%\n"
-        <<"z/x : increase/decrease linear `y` speed by 10%\n"
-        <<"e/c : increase/decrease linear `z` speed by 10%\n"
-        <<"r/v : increase/decrease rotation speed by 10%\n";
-        */
-
       while (ros::ok())
       {
         geometry_msgs::Twist::Ptr msg(new geometry_msgs::Twist());
@@ -229,9 +210,11 @@ class Run
 
 int main(int argc, char** argv)
 {
+  setlocale(LC_ALL, "");
   ros::init(argc, argv, "keyboard_cmd");
-  Run run;
+  Curses terminal;
-  run();
+  terminal.print_kbd();
+  for(;;) ;
   return 0;
 }
 

src/test.cpp

@@ -1,4 +1,4 @@
-#include "curses.h"
+#include "display.h"
 #include "locale.h"
 int main()
 {