src/wt_open_manipulator_node.cpp

   1 #include "ros/ros.h"
   2 #include "open_manipulator_i2c.h"
   3 #include "controller_manager/controller_manager.h"
   4
   5 int main(int argc, char **argv) {
   6         ros::init(argc, argv, "wt_open_manipulator_i2c");
   7
   8         ros::NodeHandle nh("~");
   9
  10         WtOpenManipulatorI2C robot(nh);
  11         controller_manager::ControllerManager cm(&robot);
  12
  13         ros::AsyncSpinner spinner(1);
  14         spinner.start();
  15
  16         ros::Time prev_time = ros::Time::now();
  17         ros::Rate loop_rate(10);
  18         while(ros::ok()) {
  19                 const ros::Time time = ros::Time::now();
  20                 const ros::Duration period = time - prev_time;
  21
  22                 robot.read(period);
  23                 cm.update(time, period);
  24                 robot.write();
  25
  26                 prev_time = time;
  27                 loop_rate.sleep();
  28         }
  29         spinner.stop();
  30
  31         return 0;
  32 }