scoutos / scout / libscout / src / alex_behavior.cpp @ a8480867
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/**
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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/**
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* @file alex_behavior.cpp
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* @brief A simple robot behavior, smart-runaround style.
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*
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* @author Colony Project, CMU Robotics Club
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* @author Alex Zirbel
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*/
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#include "libscout.h" |
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/**
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* @brief Main. The main function for the behavior.
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*
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* This is the main function for libscout. It calls init() which initializes
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* the clients and publishers/subscribers for the other parts of the library.
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*/
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int main(int argc, char **argv) |
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{ |
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ros::init(argc, argv, "libscout");
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ros::NodeHandle node; |
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MotorControl motors(node); |
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ros::Rate loop_rate(10);
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while(ros::ok())
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{ |
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motors.set_sides(20, 80); |
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ros::spinOnce(); |
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loop_rate.sleep(); |
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} |
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return 0; |
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} |