play_motion_main.cpp

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/*
 * Software License Agreement (Modified BSD License)
 *
 *  Copyright (c) 2013, PAL Robotics, S.L.
 *  All rights reserved.
 *
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 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of PAL Robotics, S.L. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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#include <ros/ros.h>

#include "play_motion/play_motion_server.h"
#include "play_motion/play_motion.h"

int main(int argc, char** argv)
{
  typedef boost::shared_ptr<play_motion::PlayMotion> PlayMotionPtr;

  // Init the ROS node
  ros::init(argc, argv, "play_motion");

  // Node handle scoped to where the poses are specified
  ros::NodeHandle nh;

  try
  {
    // Initialize the actionlib server
    play_motion::PlayMotionServer pms(nh, PlayMotionPtr(new play_motion::PlayMotion(nh)));

    // guruguru
    ros::spin();
  }
  catch(const ros::Exception& ex)
  {
    ROS_FATAL_STREAM(ex.what());
    return EXIT_FAILURE;
  }
}