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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Wim Meeussen */ 00036 00037 #include <pr2_controller_manager/controller_manager.h> 00038 #include <pr2_hardware_interface/hardware_interface.h> 00039 00040 00041 int main(int argc, char** argv) 00042 { 00043 ros::init(argc, argv, "testRobot"); 00044 ros::NodeHandle node; 00045 00046 // create fake hardware interface with an actuator 00047 pr2_hardware_interface::HardwareInterface hw; 00048 hw.actuators_["head_tilt_motor"] = new pr2_hardware_interface::Actuator("head_tilt_motor"); 00049 hw.actuators_["head_pan_motor"] = new pr2_hardware_interface::Actuator("head_pan_motor"); 00050 pr2_controller_manager::ControllerManager cm(&hw, node); 00051 00052 // read robot description from parameter server 00053 std::string robot_description_string; 00054 TiXmlDocument robot_description_xml; 00055 if (node.getParam("robot_description", robot_description_string)) 00056 robot_description_xml.Parse(robot_description_string.c_str()); 00057 else 00058 { 00059 ROS_ERROR("Could not load the robot description from the parameter server"); 00060 return -1; 00061 } 00062 TiXmlElement *robot_description_root = robot_description_xml.FirstChildElement("robot"); 00063 if (!robot_description_root) 00064 { 00065 ROS_ERROR("Could not parse the robot description"); 00066 return -1; 00067 } 00068 00069 // Initialize controller manager from robot description 00070 if (!cm.initXml(robot_description_root)){ 00071 ROS_ERROR("Could not initialize controller manager"); 00072 return -1; 00073 } 00074 00075 ros::AsyncSpinner spinner(4); 00076 spinner.start(); 00077 00078 ros::Rate rate(1000.0); 00079 while (ros::ok()){ 00080 cm.update(); 00081 rate.sleep(); 00082 } 00083 00084 spinner.stop(); 00085 00086 return 0; 00087 } 00088 00089