CAN_compatibility_arm_node.cpp

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#include <ros/ros.h>

#include <boost/thread.hpp>
#include <boost/smart_ptr.hpp>

#include "sr_hand/sr_subscriber.h"
#include "sr_hand/sr_publisher.h"
#include "sr_hand/hand/CAN_compatibility_arm.hpp"

using namespace std;
using namespace ros;
using namespace shadowrobot;

  //           MAIN              //

void run_publisher(boost::shared_ptr<SRPublisher> shadowarm_pub)
{
  while( ok() )
  {
    shadowarm_pub->publish();
  }
}


int main(int argc, char** argv)
{
  ros::init(argc, argv, "shadowarm");
  NodeHandle n;

  boost::shared_ptr<CANCompatibilityArm> can_sa(new CANCompatibilityArm());
  boost::shared_ptr<SRSubscriber> shadowarm_subscriber(new SRSubscriber(can_sa));

  boost::shared_ptr<SRPublisher> shadowarm_pub( new SRPublisher(can_sa));

  boost::thread thrd2( boost::bind( &run_publisher, shadowarm_pub ));
  thrd2.join();

  return 0;
}