setup_assistant_main.cpp
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2012, 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 <ORGANIZATION> 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 // Author: Dave Coleman
00031 
00032 #include "widgets/setup_assistant_widget.h"
00033 #include <ros/ros.h>
00034 #include <QApplication>
00035 #include <QMessageBox>
00036 #include <boost/program_options.hpp>
00037 #include <signal.h>
00038 
00039 static void siginthandler(int param)
00040 {
00041   QApplication::quit();
00042 }
00043 
00044 int main(int argc, char **argv)
00045 {
00046   // Parse parameters
00047   namespace po = boost::program_options;
00048 
00049   // Declare the supported options
00050   po::options_description desc("Allowed options");
00051   desc.add_options()
00052     ("help", "Show help message")
00053     ("debug", "Run in debug/test mode")
00054     ("urdf_path", po::value<std::string>(), "Optional, relative path to URDF in URDF package")
00055     ("config_pkg", po::value<std::string>(), "Optional, pass in existing config package to load");
00056 
00057   // Process options
00058   po::variables_map vm;
00059   po::store(po::parse_command_line(argc, argv, desc), vm);
00060   po::notify(vm);
00061 
00062   if (vm.count("help"))
00063   {
00064     std::cout << desc << std::endl;
00065     return 1;
00066   }
00067 
00068   // Start ROS Node
00069   ros::init(argc, argv, "moveit_setup_assistant", ros::init_options::NoSigintHandler);
00070 
00071   // ROS Spin
00072   ros::AsyncSpinner spinner(1);
00073   spinner.start();
00074 
00075   ros::NodeHandle nh;
00076 
00077   // Create Qt Application
00078   QApplication qtApp(argc, argv);
00079 
00080   // Load Qt Widget
00081   moveit_setup_assistant::SetupAssistantWidget saw( NULL, vm );
00082   saw.setMinimumWidth(1024);
00083   saw.setMinimumHeight(768);
00084   //  saw.setWindowState( Qt::WindowMaximized );
00085 
00086   saw.show();
00087 
00088   signal(SIGINT, siginthandler);
00089 
00090   // Wait here until Qt App is finished
00091   const int result = qtApp.exec();
00092 
00093   // Shutdown ROS
00094   ros::shutdown();
00095 
00096   return result;
00097 }


moveit_setup_assistant
Author(s): Dave Coleman
autogenerated on Mon Oct 6 2014 02:32:27