CAN_compatibility_arm_node.cpp

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#include <ros/ros.h>

#include <boost/thread/thread.hpp>
#include <boost/smart_ptr.hpp>

#include "sr_hand/sr_subscriber.h"
#include "sr_hand/sr_publisher.h"
#include "sr_hand/hand/CAN_compatibility_arm.hpp"

using ros::NodeHandle;
using shadowrobot::SRSubscriber;
using shadowrobot::SRPublisher;
using shadowrobot::CANCompatibilityArm;

//           MAIN              //

void run_publisher(boost::shared_ptr <SRPublisher> shadowarm_pub)
{
  while (ok())
  {
    shadowarm_pub->publish();
  }
}


int main(int argc, char **argv)
{
  ros::init(argc, argv, "shadowarm");
  NodeHandle n;

  boost::shared_ptr <CANCompatibilityArm> can_sa(new CANCompatibilityArm());
  boost::shared_ptr <SRSubscriber> shadowarm_subscriber(new SRSubscriber(can_sa));

  boost::shared_ptr <SRPublisher> shadowarm_pub(new SRPublisher(can_sa));

  boost::thread
  thrd2(boost::bind(&run_publisher, shadowarm_pub));
  thrd2.join();

  return 0;
}