X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_roboint.git;a=blobdiff_plain;f=src%2Frobo_explorer_hardware.cpp;fp=src%2Frobo_explorer_hardware.cpp;h=457cdcab1ae1019baebcb44ea0fe9b04d850a1ed;hp=0000000000000000000000000000000000000000;hb=e2df79c17569d45bd959aec083c5fd6e72ca960b;hpb=562300f16b1b50ed1b730dceb0bf1e39797677fb

diff --git a/src/robo_explorer_hardware.cpp b/src/robo_explorer_hardware.cpp
new file mode 100644
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;
+}