RSMNode.cpp

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#include "ros/ros.h"
#include <rsm_core/StateInterface.h>
#include <rsm_core/BootState.h>

boost::shared_ptr<rsm::StateInterface> stateInterface;

void loopCallback(const ros::TimerEvent&) {
        stateInterface->awake();
}

int main(int argc, char **argv) {
        ros::init(argc, argv, "rsmNode");
        ros::NodeHandle private_nh("~");
        double loop_rate;
        private_nh.param("update_frequency", loop_rate, 20.0);
        ros::Timer loop_timer = private_nh.createTimer(ros::Duration(1 / loop_rate),
                        loopCallback);
        stateInterface.reset(new rsm::StateInterface());
        stateInterface->awake();
        stateInterface->transitionToVolatileState(
                        boost::make_shared<rsm::BootState>());
        stateInterface->awake();
        loop_timer.start();
        ros::spin();
        stateInterface.reset();
        return 0;
}