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00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2011, Robert Bosch LLC. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Robert Bosch nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 *********************************************************************/ 00036 #include <sstream> 00037 #include <ros/ros.h> 00038 00039 #include <vlr/vlrException.h> 00040 00041 #include "main_window.h" 00042 00043 using namespace vlr; 00044 00045 pthread_t spin_thread_; 00046 00047 void* rosSpinThread(void*) { 00048 ros::spin(); 00049 return NULL; 00050 } 00051 00052 void spin() { 00053 int res = pthread_create(&spin_thread_, NULL, rosSpinThread, NULL); 00054 if (res) { 00055 throw VLRException("Failed to create spin thread"); 00056 } 00057 } 00058 00059 int main(int argc, char **argv) { 00060 00061 ros::init(argc, argv, "pr2_dremel_gui"); 00062 00063 QApplication* qtapp = new QApplication(argc, argv); 00064 qtapp->connect(qtapp, SIGNAL(lastWindowClosed()), qtapp, SLOT(quit())); 00065 00066 // create a window 00067 MainWindow window; 00068 window.show(); 00069 00070 // spin ros and qt 00071 spin(); 00072 qtapp->exec(); 00073 00074 delete qtapp; 00075 00076 00077 return 0; 00078 }