play_motion_main.cpp
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00001 /*
00002  * Software License Agreement (Modified BSD License)
00003  *
00004  *  Copyright (c) 2013, PAL Robotics, S.L.
00005  *  All rights reserved.
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00007  *  Redistribution and use in source and binary forms, with or without
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00010  *
00011  *   * Redistributions of source code must retain the above copyright
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00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
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00019  *     from this software without specific prior written permission.
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 
00038 #include <ros/ros.h>
00039 
00040 #include "play_motion/play_motion_server.h"
00041 #include "play_motion/play_motion.h"
00042 
00043 int main(int argc, char** argv)
00044 {
00045   typedef boost::shared_ptr<play_motion::PlayMotion> PlayMotionPtr;
00046 
00047   // Init the ROS node
00048   ros::init(argc, argv, "play_motion");
00049 
00050   // Node handle scoped to where the poses are specified
00051   ros::NodeHandle nh;
00052 
00053   try
00054   {
00055     // Initialize the actionlib server
00056     play_motion::PlayMotionServer pms(nh, PlayMotionPtr(new play_motion::PlayMotion(nh)));
00057 
00058     // guruguru
00059     ros::spin();
00060   }
00061   catch(const ros::Exception& ex)
00062   {
00063     ROS_FATAL_STREAM(ex.what());
00064     return EXIT_FAILURE;
00065   }
00066 }


play_motion
Author(s): Paul Mathieu
autogenerated on Wed Aug 26 2015 15:29:25