fake_joint_driver_node.cpp

Go to the documentation of this file.

#include "ros/ros.h"
#include "controller_manager/controller_manager.h"
#include "fake_joint_driver/fake_joint_driver.h"

int main(int argc, char **argv)
{
  // Init ROS node
  ros::init(argc, argv, "fake_joint_driver");
  ros::NodeHandle nh;

  // Create hardware interface
  FakeJointDriver robot;
  // Connect to controller manager
  controller_manager::ControllerManager cm(&robot, nh);

  // Set loop rate
  ros::NodeHandle pnh("~");
  int loop_rate;
  pnh.param<int>("main_loop_rate", loop_rate, 100);
  ros::Rate rate(loop_rate);
  ros::AsyncSpinner spinner(1);
  spinner.start();

  while (ros::ok())
  {
    robot.update();
    cm.update(ros::Time::now(), rate.expectedCycleTime());
    rate.sleep();
  }
  spinner.stop();

  return 0;
}