rm_hw.cpp

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 * Copyright (c) 2021, Qiayuan Liao
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//
// Created by qiayuan on 12/27/20.
//
 
#include "rm_hw/control_loop.h"
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "rm_hw");
  ros::NodeHandle nh;
 
  // Run the hardware interface node
  // -------------------------------
 
  // We run the ROS loop in a separate thread as external calls, such
  // as service callbacks loading controllers, can block the (main) control loop
 
  ros::AsyncSpinner spinner(2);
  spinner.start();
 
  try
  {
    // Create the hardware interface specific to your robot
    std::shared_ptr<rm_hw::RmRobotHW> rm_hw_hw_interface = std::make_shared<rm_hw::RmRobotHW>();
 
    // Start the control loop
    rm_hw::RmRobotHWLoop control_loop(nh, rm_hw_hw_interface);
 
    // Wait until shutdown signal received
    ros::waitForShutdown();
  }
  catch (const ros::Exception& e)
  {
    ROS_FATAL_STREAM("Error in the hardware interface:\n"
                     << "\t" << e.what());
    return 1;
  }
 
  return 0;
}