ackermann.cpp
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00001 // NOTE: The contents of this file have been taken largely from the ros_control wiki tutorials
00002 
00003 // ROS
00004 #include <ros/ros.h>
00005 
00006 // ros_control
00007 #include <controller_manager/controller_manager.h>
00008 
00009 #include "ackermann.h"
00010 
00011 int main(int argc, char **argv)
00012 {
00013   ros::init(argc, argv, "ackermann");
00014   ros::NodeHandle nh;
00015 
00016   Ackermann robot;
00017   ROS_WARN_STREAM("period: " << robot.getPeriod().toSec());
00018   controller_manager::ControllerManager cm(&robot, nh);
00019 
00020   ros::Rate rate(1.0 / robot.getPeriod().toSec());
00021   ros::AsyncSpinner spinner(1);
00022   spinner.start();
00023   while(ros::ok())
00024   {
00025     robot.read();
00026     cm.update(robot.getTime(), robot.getPeriod());
00027     robot.write();
00028     rate.sleep();
00029   }
00030   spinner.stop();
00031 
00032   return 0;
00033 }


ackermann_controller
Author(s): Vincent Rousseau
autogenerated on Sat Jun 8 2019 20:06:19