sick_tim551_2050001.cpp
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00001 /*
00002  * Copyright (C) 2013, Osnabrück University
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Osnabrück University nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  *  Created on: 14.11.2013
00030  *
00031  *      Author:
00032  *         Martin Günther <mguenthe@uos.de>
00033  *
00034  */
00035 
00036 #include <sick_tim3xx/sick_tim3xx_common_usb.h>
00037 #include <sick_tim3xx/sick_tim3xx_common_tcp.h>
00038 #include <sick_tim3xx/sick_tim551_2050001_parser.h>
00039 
00040 int main(int argc, char **argv)
00041 {
00042   ros::init(argc, argv, "sick_tim551_2050001");
00043 
00044   // check for TCP - use if ~hostname is set.
00045   ros::NodeHandle nhPriv("~");
00046   bool useTCP = false;
00047   std::string hostname;
00048   if(nhPriv.getParam("hostname", hostname)) {
00049       useTCP = true;
00050   }
00051 
00052   sick_tim3xx::SickTim5512050001Parser* parser = new sick_tim3xx::SickTim5512050001Parser();
00053   sick_tim3xx::SickTim3xxCommon* s = NULL;
00054   if(useTCP)
00055       s = new sick_tim3xx::SickTim3xxCommonTcp(hostname, parser);
00056   else
00057       s = new sick_tim3xx::SickTim3xxCommonUsb(parser);
00058 
00059   int result = s->init();
00060   while (ros::ok() && (result == EXIT_SUCCESS))
00061   {
00062     ros::spinOnce();
00063     result = s->loopOnce();
00064   }
00065 
00066   delete s;
00067   return result;
00068 }


sick_tim3xx
Author(s): Jochen Sprickerhof , Martin Günther
autogenerated on Fri Jul 25 2014 06:50:00