node.cpp

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#include <ros/ros.h>
#include <tf/transform_listener.h>

#include <robot_operator/RobotOperator.h>

using namespace ros;

int main(int argc, char **argv)
{
        init(argc, argv, NODE_NAME);
        NodeHandle n;

        RobotOperator robOp(&n);
        
        Rate loopRate(10);
        while(ok())
        {
                robOp.executeCommand();
                spinOnce();
                loopRate.sleep();
        }
        return 0;       
}