00001 #include <socketcan_interface/dispatcher.h> 00002 #include <socketcan_interface/socketcan.h> 00003 #include <canopen_chain_node/ros_chain.h> 00004 00005 using namespace can; 00006 using namespace canopen; 00007 00008 int main(int argc, char** argv){ 00009 ros::init(argc, argv, "canopen_chain_node_node"); 00010 ros::NodeHandle nh; 00011 ros::NodeHandle nh_priv("~"); 00012 00013 RosChain chain(nh, nh_priv); 00014 00015 if(!chain.setup()){ 00016 return 1; 00017 } 00018 00019 ros::spin(); 00020 return 0; 00021 }