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src
dummy_app.cpp
Go to the documentation of this file.
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// Copyright (C) 2012, hiDOF INC.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of hiDOF Inc nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#include <
ros/ros.h
>
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#include <
controller_manager/controller_manager.h
>
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#include <
controller_manager_tests/my_robot_hw.h
>
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using namespace
controller_manager_tests
;
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int
main
(
int
argc,
char
** argv)
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{
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ros::init
(argc, argv,
"DummyApp"
);
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ros::AsyncSpinner
spinner(1);
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spinner.
start
();
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MyRobotHW
hw;
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ros::NodeHandle
nh;
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controller_manager::ControllerManager
cm(&hw, nh);
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ros::Duration
period(1.0);
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while
(
ros::ok
())
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{
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ROS_INFO
(
"loop"
);
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hw.
read
();
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cm.
update
(
ros::Time::now
(), period);
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hw.
write
();
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period.
sleep
();
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}
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return
0;
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}
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controller_manager::ControllerManager
ros::NodeHandle
ros::Duration::sleep
bool sleep() const
ros::init
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
my_robot_hw.h
controller_manager_tests::MyRobotHW
Definition:
my_robot_hw.h:42
controller_manager_tests
Definition:
effort_test_controller.h:37
ros::AsyncSpinner::start
void start()
ROS_INFO
#define ROS_INFO(...)
ros::ok
ROSCPP_DECL bool ok()
ros.h
ros::Duration
controller_manager.h
main
int main(int argc, char **argv)
Definition:
dummy_app.cpp:34
ros::Time::now
static Time now()
controller_manager_tests::MyRobotHW::write
void write()
Definition:
my_robot_hw.cpp:95
controller_manager_tests::MyRobotHW::read
void read()
Definition:
my_robot_hw.cpp:90
controller_manager::ControllerManager::update
void update(const ros::Time &time, const ros::Duration &period, bool reset_controllers=false)
ros::AsyncSpinner
controller_manager_tests
Author(s): Vijay Pradeep, Adolfo Rodriguez Tsouroukdissian
autogenerated on Fri Jun 7 2019 22:00:10