00001 00002 // Copyright (C) 2013, PAL Robotics S.L. 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 PAL Robotics, 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 // NOTE: The contents of this file have been taken largely from the ros_control wiki tutorials 00029 00030 // ROS 00031 #include <ros/ros.h> 00032 00033 // ros_control 00034 #include <controller_manager/controller_manager.h> 00035 00036 #include "./../include/steerbot.h" 00037 00038 int main(int argc, char **argv) 00039 { 00040 ros::init(argc, argv, "steerbot"); 00041 ros::NodeHandle nh; 00042 00043 Steerbot robot; 00044 ROS_WARN_STREAM("period: " << robot.getPeriod().toSec()); 00045 controller_manager::ControllerManager cm(&robot, nh); 00046 00047 ros::Rate rate(1.0 / robot.getPeriod().toSec()); 00048 ros::AsyncSpinner spinner(1); 00049 spinner.start(); 00050 while(ros::ok()) 00051 { 00052 ROS_WARN_STREAM("period: " << robot.getPeriod().toSec()); 00053 robot.read(); 00054 cm.update(robot.getTime(), robot.getPeriod()); 00055 robot.write(); 00056 rate.sleep(); 00057 } 00058 spinner.stop(); 00059 00060 return 0; 00061 }