virtual_arm_node.cpp

Go to the documentation of this file.

#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/sr_diagnosticer.h"
#include "sr_hand/hand/virtual_arm.h"


using ros::NodeHandle;
using ros::ok;
using shadowrobot::VirtualArm;
using shadowrobot::SRDiagnosticer;
using shadowrobot::SRSubscriber;
using shadowrobot::SRPublisher;
using shadowrobot::sr_arm_hardware;

//           MAIN              //

void run_diagnotics(boost::shared_ptr<SRDiagnosticer> shadowhand_diag)
{
  while (ok())
  {
    shadowhand_diag->publish();
  }
}

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


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

  boost::shared_ptr<VirtualArm> virt_arm(new VirtualArm());
  boost::shared_ptr<SRSubscriber> shadowhand_subscriber(new SRSubscriber(virt_arm));

  boost::shared_ptr<SRPublisher> shadowhand_pub(new SRPublisher(virt_arm));
  boost::shared_ptr<SRDiagnosticer> shadowhand_diag(new SRDiagnosticer(virt_arm, sr_arm_hardware));

  boost::thread thrd1(boost::bind(&run_diagnotics, shadowhand_diag));
  boost::thread thrd2(boost::bind(&run_publisher, shadowhand_pub));
  thrd1.join();
  thrd2.join();

  return 0;
}