pr2_arm_kinematics_constraint_aware: main.cpp Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /*
00031  * Author: Sachin Chitta
00032  */
00033 
00034 #include <ros/ros.h>
00035 #include <pr2_arm_kinematics_constraint_aware/pr2_arm_kinematics_constraint_aware.h>
00036 #include <boost/thread.hpp>
00037 
00038 void spinThread()
00039 {
00040   ros::spin();
00041 }
00042 
00043 int main(int argc, char** argv)
00044 {
00045   ros::init(argc, argv, "pr2_arm_kinematics_constraint_aware");
00046   pr2_arm_kinematics::PR2ArmIKConstraintAware pr2_arm_kinematics_constraint_aware;
00047   if(pr2_arm_kinematics_constraint_aware.isActive())
00048   {
00049     ROS_INFO("Initialized pr2_arm_kinematics_constraint_aware.");
00050     boost::thread spin_thread(&spinThread);
00051     //    ros::spin();
00052     while(ros::ok())
00053     {
00054       ros::Duration(0.01).sleep();
00055     }
00056   }
00057   else
00058   {
00059     ROS_ERROR("Could not initialize collision environment, kinematics node will not start.");
00060   }
00061   return(0);
00062 }