Migration to ros control (diff_drive_controller)

[ros_roboint.git] / src / robo_explorer_hardware.cpp

diff --git a/src/robo_explorer_hardware.cpp b/src/robo_explorer_hardware.cpp
new file mode 100644 (file)
index 0000000..457cdca
--- /dev/null
+++ b/src/robo_explorer_hardware.cpp
@@ -0,0 +1,31 @@
+#include "ros/ros.h"
+#include "robo_explorer_hardware.h"
+#include "controller_manager/controller_manager.h"
+
+int main(int argc, char **argv) {
+       ros::init(argc, argv, "robo_explorer_hardware");
+
+       ros::NodeHandle n;
+
+       RoboExplorer robot(n);
+       controller_manager::ControllerManager cm(&robot);
+
+       ros::AsyncSpinner spinner(1);
+       spinner.start();
+
+       ros::Time prev_time = ros::Time::now();
+       ros::Rate loop_rate(10);
+       while(ros::ok()) {
+               const ros::Time time = ros::Time::now();
+               const ros::Duration period = time - prev_time;
+
+               robot.read(period);
+               cm.update(time, period);
+               robot.write();
+
+               prev_time = time;
+               loop_rate.sleep();
+       }
+
+       return 0;
+}