setup_assistant_main.cpp

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/* Author: Dave Coleman */

#include "widgets/setup_assistant_widget.h"
#include <ros/ros.h>
#include <QApplication>
#include <QMessageBox>
#include <boost/program_options.hpp>
#include <signal.h>
#include <locale.h>

static void siginthandler(int param)
{
  QApplication::quit();
}

void usage(boost::program_options::options_description& desc, int exit_code)
{
  std::cout << desc << std::endl;
  exit(exit_code);
}

int main(int argc, char** argv)
{
  // Parse parameters
  namespace po = boost::program_options;

  // Declare the supported options
  po::options_description desc("Allowed options");
  desc.add_options()("help,h", "Show help message")("debug,g", "Run in debug/test mode")(
      "urdf_path,u", po::value<std::string>(), "Optional, path to URDF file in ROS package")(
      "config_pkg,c", po::value<std::string>(), "Optional, pass in existing config package to load");

  // Process options
  po::variables_map vm;
  try
  {
    po::store(po::parse_command_line(argc, argv, desc), vm);
    po::notify(vm);

    if (vm.count("help"))
      usage(desc, 0);
  }
  catch (const std::exception& e)
  {
    std::cerr << e.what() << std::endl;
    usage(desc, 1);
  }
  // Start ROS Node
  ros::init(argc, argv, "moveit_setup_assistant", ros::init_options::NoSigintHandler);

  // ROS Spin
  ros::AsyncSpinner spinner(1);
  spinner.start();

  ros::NodeHandle nh;

  // Create Qt Application
  QApplication qtApp(argc, argv);
  // numeric values should always be POSIX
  setlocale(LC_NUMERIC, "C");

  // Load Qt Widget
  moveit_setup_assistant::SetupAssistantWidget saw(NULL, vm);
  saw.setMinimumWidth(980);
  saw.setMinimumHeight(550);
  //  saw.setWindowState( Qt::WindowMaximized );

  saw.show();

  signal(SIGINT, siginthandler);

  // Wait here until Qt App is finished
  const int result = qtApp.exec();

  // Shutdown ROS
  ros::shutdown();

  return result;
}