00001 /****************************************************************************** 00002 * Copyright (C) 2014 by Jerome Maye * 00003 * jerome.maye@gmail.com * 00004 * * 00005 * This program is free software; you can redistribute it and/or modify * 00006 * it under the terms of the Lesser GNU General Public License as published by* 00007 * the Free Software Foundation; either version 3 of the License, or * 00008 * (at your option) any later version. * 00009 * * 00010 * This program is distributed in the hope that it will be useful, * 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00013 * Lesser GNU General Public License for more details. * 00014 * * 00015 * You should have received a copy of the Lesser GNU General Public License * 00016 * along with this program. If not, see <http://www.gnu.org/licenses/>. * 00017 ******************************************************************************/ 00018 00023 #include <ros/ros.h> 00024 00025 #include "pure_pursuit_controller/purePursuitController.h" 00026 00027 int main(int argc, char** argv) { 00028 ros::init(argc, argv, "pure_pursuit_controller"); 00029 ros::NodeHandle nh("~"); 00030 try { 00031 PurePursuitControllerNode node(nh); 00032 node.spin(); 00033 } 00034 catch (const std::exception& e) { 00035 ROS_ERROR_STREAM("Exception: " << e.what()); 00036 return 1; 00037 } 00038 catch (...) { 00039 ROS_ERROR_STREAM("Unknown Exception"); 00040 return 1; 00041 } 00042 return 0; 00043 }