00001 /* 00002 * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions 00006 * are met: 00007 * 00008 * 1. Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * 00011 * 2. Redistributions in binary form must reproduce the above 00012 * copyright notice, this list of conditions and the following 00013 * disclaimer in the documentation and/or other materials provided 00014 * with the distribution. 00015 * 00016 * 3. Neither the name of the copyright holder nor the names of its 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without specific prior written permission. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 * 00033 * simple_server_node.cpp 00034 * 00035 * authors: 00036 * Sebastian Pütz <spuetz@uni-osnabrueck.de> 00037 * Jorge Santos Simón <santos@magazino.eu> 00038 * 00039 */ 00040 00041 #include "mbf_simple_nav/simple_navigation_server.h" 00042 #include <mbf_utility/types.h> 00043 #include <tf2_ros/transform_listener.h> 00044 00045 int main(int argc, char **argv) 00046 { 00047 ros::init(argc, argv, "mbf_simple_server"); 00048 00049 typedef boost::shared_ptr<mbf_simple_nav::SimpleNavigationServer> SimpleNavigationServerPtr; 00050 00051 ros::NodeHandle nh; 00052 ros::NodeHandle private_nh("~"); 00053 00054 double cache_time; 00055 private_nh.param("tf_cache_time", cache_time, 10.0); 00056 00057 #ifdef USE_OLD_TF 00058 TFPtr tf_listener_ptr(new TF(nh, ros::Duration(cache_time), true)); 00059 #else 00060 TFPtr tf_listener_ptr(new TF(ros::Duration(cache_time))); 00061 tf2_ros::TransformListener tf_listener(*tf_listener_ptr); 00062 #endif 00063 00064 SimpleNavigationServerPtr controller_ptr( 00065 new mbf_simple_nav::SimpleNavigationServer(tf_listener_ptr)); 00066 00067 ros::spin(); 00068 return EXIT_SUCCESS; 00069 }