dynamixel_interface_main.cpp

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#include <dynamixel_interface/dynamixel_interface_controller.h>
#include <ros/ros.h>

int main(int argc, char **argv)
{
  // ros initialise
  ros::init(argc, argv, "dynamixel_interface_node");

  // create controller
  dynamixel_interface::DynamixelInterfaceController controller;

  // parse params
  if (!controller.parseParameters())
  {
    return 1;
  }

  // intialise
  if (!controller.initialise())
  {
    return 2;
  }

  // initialise rate controller
  ros::Rate rate(controller.getLoopRate());

  // Loop and process
  while (ros::ok())
  {
    controller.loop();

    ros::spinOnce();
    rate.sleep();
  }

  return 0;
}