dummy_app.cpp
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00001 
00002 // Copyright (C) 2012, hiDOF INC.
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //   * Redistributions of source code must retain the above copyright notice,
00007 //     this list of conditions and the following disclaimer.
00008 //   * Redistributions in binary form must reproduce the above copyright
00009 //     notice, this list of conditions and the following disclaimer in the
00010 //     documentation and/or other materials provided with the distribution.
00011 //   * Neither the name of hiDOF Inc nor the names of its
00012 //     contributors may be used to endorse or promote products derived from
00013 //     this software without specific prior written permission.
00014 //
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025 // POSSIBILITY OF SUCH DAMAGE.
00027 
00028 #include <ros/ros.h>
00029 #include <controller_manager/controller_manager.h>
00030 #include <controller_manager_tests/my_robot_hw.h>
00031 
00032 using namespace controller_manager_tests;
00033 
00034 int main(int argc, char** argv)
00035 {
00036   ros::init(argc, argv, "DummyApp");
00037 
00038   ros::AsyncSpinner spinner(1);
00039   spinner.start();
00040 
00041   MyRobotHW hw;
00042 
00043   ros::NodeHandle nh;
00044   controller_manager::ControllerManager cm(&hw, nh);
00045 
00046   ros::Duration period(1.0);
00047   while (ros::ok())
00048   {
00049     ROS_INFO("loop");
00050     hw.read();
00051     cm.update(ros::Time::now(), period);
00052     hw.write();
00053     period.sleep();
00054   }
00055 }
00056 


controller_manager_tests
Author(s): Vijay Pradeep
autogenerated on Sat Jun 8 2019 20:09:25