skidsteerbot.cpp

Go to the documentation of this file.

// Copyright (C) 2013, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above 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, Inc. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

// NOTE: The contents of this file have been taken largely from the ros_control wiki tutorials

// ROS
#include <ros/ros.h>

// ros_control
#include <controller_manager/controller_manager.h>

#include "diffbot.h"

int main(int argc, char **argv)
{
  ros::init(argc, argv, "skidsteerbot");
  ros::NodeHandle nh;

  Diffbot<6> robot;
  ROS_WARN_STREAM("period: " << robot.getPeriod().toSec());
  controller_manager::ControllerManager cm(&robot, nh);

  ros::Rate rate(1.0 / robot.getPeriod().toSec());
  ros::AsyncSpinner spinner(1);
  spinner.start();
  while(ros::ok())
  {
    robot.read();
    cm.update(robot.getTime(), robot.getPeriod());
    robot.write();
    rate.sleep();
  }
  spinner.stop();

  return 0;
}