CAN_compatibility_arm_node.cpp
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00001 
00030 #include <ros/ros.h>
00031 
00032 #include <boost/thread.hpp>
00033 #include <boost/smart_ptr.hpp>
00034 
00035 #include "sr_hand/sr_subscriber.h"
00036 #include "sr_hand/sr_publisher.h"
00037 #include "sr_hand/hand/CAN_compatibility_arm.hpp"
00038 
00039 using namespace std;
00040 using namespace ros;
00041 using namespace shadowrobot;
00042 
00044   //           MAIN              //
00046 
00047 void run_publisher(boost::shared_ptr<SRPublisher> shadowarm_pub)
00048 {
00049   while( ok() )
00050   {
00051     shadowarm_pub->publish();
00052   }
00053 }
00054 
00055 
00067 int main(int argc, char** argv)
00068 {
00069   ros::init(argc, argv, "shadowarm");
00070   NodeHandle n;
00071 
00072   boost::shared_ptr<CANCompatibilityArm> can_sa(new CANCompatibilityArm());
00073   boost::shared_ptr<SRSubscriber> shadowarm_subscriber(new SRSubscriber(can_sa));
00074 
00075   boost::shared_ptr<SRPublisher> shadowarm_pub( new SRPublisher(can_sa));
00076 
00077   boost::thread thrd2( boost::bind( &run_publisher, shadowarm_pub ));
00078   thrd2.join();
00079 
00080   return 0;
00081 }


sr_hand
Author(s): Ugo Cupcic / ugo@shadowrobot.com, contact@shadowrobot.com
autogenerated on Fri Jan 3 2014 12:03:25