Go to the documentation of this file.00001
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00008 #include "publish_control_factory.h"
00009 #include "globals.h"
00010 #include "startup_checks.h"
00011
00012 using namespace AS::Joystick;
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00016
00017 int main(int argc, char *argv[])
00018 {
00019 ros::init(argc, argv, "pacmod_gamepad_control");
00020 ros::AsyncSpinner spinner(2);
00021 ros::NodeHandle priv("~");
00022
00023
00024 while (ros::Time::now().nsec == 0);
00025
00026 if(run_startup_checks_error(&priv) == true)
00027 return 0;
00028
00029
00030 int board_rev = 1;
00031 priv.getParam("pacmod_board_rev", board_rev);
00032
00033
00034 std::unique_ptr<PublishControl> board;
00035
00036 try
00037 {
00038 board = PublishControlFactory::create(board_rev);
00039 }
00040 catch (const std::invalid_argument& ia)
00041 {
00042 ROS_ERROR("Invalid PACMod Board Version received. Board requested was %d", board_rev);
00043 return 0;
00044 }
00045
00046 spinner.start();
00047 ros::waitForShutdown();
00048
00049 return 0;
00050 }
00051