sim_hw_main.cpp
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00034 
00035 /* Author: Dave Coleman
00036    Desc:   Example ros_control main() entry point for controlling robots in ROS
00037 */
00038 
00039 #include <ros_control_boilerplate/generic_hw_control_loop.h>
00040 #include <ros_control_boilerplate/sim_hw_interface.h>
00041 
00042 int main(int argc, char** argv)
00043 {
00044   ros::init(argc, argv, "sim_hw_interface");
00045   ros::NodeHandle nh;
00046 
00047   // NOTE: We run the ROS loop in a separate thread as external calls such
00048   // as service callbacks to load controllers can block the (main) control loop
00049   ros::AsyncSpinner spinner(2);
00050   spinner.start();
00051 
00052   // Create the hardware interface specific to your robot
00053   boost::shared_ptr<ros_control_boilerplate::SimHWInterface> sim_hw_interface
00054     (new ros_control_boilerplate::SimHWInterface(nh));
00055   sim_hw_interface->init();
00056 
00057   // Start the control loop
00058   ros_control_boilerplate::GenericHWControlLoop control_loop(nh, sim_hw_interface);
00059 
00060   // Wait until shutdown signal recieved
00061   ros::waitForShutdown();
00062 
00063   return 0;
00064 }


ros_control_boilerplate
Author(s): Dave Coleman
autogenerated on Thu Jun 6 2019 20:37:19