ackermann_steering_bot.cpp
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1 // Copyright (C) 2013, PAL Robotics S.L.
3 //
4 // Redistribution and use in source and binary forms, with or without
5 // modification, are permitted provided that the following conditions are met:
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13 // this software without specific prior written permission.
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15 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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27 
29 
30 // NOTE: The contents of this file have been taken largely from the ros_control wiki tutorials
31 
32 // ROS
33 #include <ros/ros.h>
34 
35 // ros_control
36 #include <controller_manager/controller_manager.h>
37 
38 #include "./../include/ackermann_steering_bot.h"
39 
40 int main(int argc, char **argv)
41 {
42  ros::init(argc, argv, "ackermann_steering_bot");
43  ros::NodeHandle nh;
44 
46  ROS_WARN_STREAM("period: " << robot.getPeriod().toSec());
47  controller_manager::ControllerManager cm(&robot, nh);
48 
49  ros::Rate rate(1.0 / robot.getPeriod().toSec());
51  spinner.start();
52  while(ros::ok())
53  {
54  ROS_WARN_STREAM("period: " << robot.getPeriod().toSec());
55  robot.read();
56  cm.update(robot.getTime(), robot.getPeriod());
57  robot.write();
58  rate.sleep();
59  }
60  spinner.stop();
61 
62  return 0;
63 }
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void spinner()
ros::Time getTime() const
ROSCPP_DECL bool ok()
#define ROS_WARN_STREAM(args)
int main(int argc, char **argv)
ros::Duration getPeriod() const


ackermann_steering_controller
Author(s): Masaru Morita
autogenerated on Thu Apr 11 2019 03:08:13