dynamixel_control_hw.cpp

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/* Original Author: Dave Coleman (https://github.com/davetcoleman/ros_control_boilerplate) */
/* Edited by: Dorian Goepp (https://github.com/resibots/dynamixel_control_hw/) */
/* Edited by: Max Svetlik (https://github.com/svenzvarobotics/) */
#include <sstream>

#include <dynamixel_control_hw/dynamixel_loop.hpp>
#include <dynamixel_control_hw/dynamixel_hardware_interface.hpp>

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

    // Get parameters for the hardware
    // -------------------------------

    ros::NodeHandle nhParams("~");
    std::string sub_namespace = nhParams.getNamespace();

    // Run the hardware interface node
    // -------------------------------

    // We run the ROS loop in a separate thread as external calls, such
    // as service callbacks loading controllers, can block the (main) control loop
    ros::AsyncSpinner spinner(2);
    spinner.start();

    // Create the hardware interface specific to your robot
    boost::shared_ptr<dynamixel::DynamixelHardwareInterface>
        dynamixel_hw_interface = boost::make_shared<dynamixel::DynamixelHardwareInterface>();
    dynamixel_hw_interface->init(nh);

    // Start the control loop
    dynamixel::DynamixelLoop control_loop(nh, dynamixel_hw_interface);

    // Wait until shutdown signal recieved
    ros::waitForShutdown();

    return 0;
}