mvsim_node_main.cpp

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#include "mvsim/mvsim_node_core.h"

/*------------------------------------------------------------------------------
 * main()
 * Main function to set up ROS node.
 *----------------------------------------------------------------------------*/

int main(int argc, char** argv)
{
        // Set up ROS.
        ros::init(argc, argv, "mvsim");
        ros::NodeHandle n;

        // Create a "Node" object.
        MVSimNode node(n);

        // Declare variables that can be modified by launch file or command line.
        int rate;
        std::string world_file;

        // Initialize node parameters from launch file or command line.
        // Use a private node handle so that multiple instances of the node can be
        // run simultaneously
        // while using different parameters.
        ros::NodeHandle private_node_handle_("~");
        private_node_handle_.param("simul_rate", rate, 100);
        private_node_handle_.param("world_file", world_file, std::string(""));

        // Init world model:
        if (!world_file.empty()) node.loadWorldModel(world_file);

        // Set up a dynamic reconfigure server.
        // Do this before parameter server, else some of the parameter server
        // values can be overwritten.
        dynamic_reconfigure::Server<mvsim::mvsimNodeConfig> dr_srv;
        dynamic_reconfigure::Server<mvsim::mvsimNodeConfig>::CallbackType cb;
        cb = boost::bind(&MVSimNode::configCallback, &node, _1, _2);
        dr_srv.setCallback(cb);

        // Create a publisher and name the topic.
        // ros::Publisher pub_message =
        // n.advertise<node_example::NodeExampleData>("example", 10);
        // Name the topic, message queue, callback function with class name, and
        // object containing callback function.
        // ros::Subscriber sub_message = n.subscribe("example", 1000,
        // &NodeExample::messageCallback, node_example);

        // Tell ROS how fast to run this node.
        ros::Rate r(rate);

        // Main loop.
        while (n.ok())
        {
                node.spin();
                ros::spinOnce();
                r.sleep();
        }

        return 0;

}  // end main()