diffbot.cpp
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00001 
00002 // Copyright (C) 2013, PAL Robotics S.L.
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //   * Redistributions of source code must retain the above copyright notice,
00007 //     this list of conditions and the following disclaimer.
00008 //   * Redistributions in binary form must reproduce the above copyright
00009 //     notice, this list of conditions and the following disclaimer in the
00010 //     documentation and/or other materials provided with the distribution.
00011 //   * Neither the name of PAL Robotics, Inc. nor the names of its
00012 //     contributors may be used to endorse or promote products derived from
00013 //     this software without specific prior written permission.
00014 //
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025 // POSSIBILITY OF SUCH DAMAGE.
00027 
00028 // NOTE: The contents of this file have been taken largely from the ros_control wiki tutorials
00029 
00030 // ROS
00031 #include <ros/ros.h>
00032 
00033 // ros_control
00034 #include <controller_manager/controller_manager.h>
00035 
00036 #include "diffbot.h"
00037 
00038 int main(int argc, char **argv)
00039 {
00040   ros::init(argc, argv, "diffbot");
00041   ros::NodeHandle nh;
00042 
00043   Diffbot<> robot;
00044   ROS_WARN_STREAM("period: " << robot.getPeriod().toSec());
00045   controller_manager::ControllerManager cm(&robot, nh);
00046 
00047   ros::Rate rate(1.0 / robot.getPeriod().toSec());
00048   ros::AsyncSpinner spinner(1);
00049   spinner.start();
00050   while(ros::ok())
00051   {
00052     robot.read();
00053     cm.update(robot.getTime(), robot.getPeriod());
00054     robot.write();
00055     rate.sleep();
00056   }
00057   spinner.stop();
00058 
00059   return 0;
00060 }


diff_drive_controller
Author(s): Bence Magyar
autogenerated on Sat Aug 13 2016 04:20:35