RoboBuggy

/*

 * Copyright (c) 2009, Willow Garage, Inc.

 * All rights reserved.

 *

 * Redistribution and use in source and binary forms, with or without

 * modification, are permitted provided that the following conditions are met:

 *

 *     * Redistributions of source code must retain the above copyright

 *       notice, this list of conditions and the following disclaimer.

 *     * Redistributions in binary form must reproduce the above copyright

 *       notice, this list of conditions and the following disclaimer in the

 *       documentation and/or other materials provided with the distribution.

 *     * Neither the name of the Willow Garage, Inc. nor the names of its

 *       contributors may be used to endorse or promote products derived from

 *       this software without specific prior written permission.

 *

 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN

 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

 * POSSIBILITY OF SUCH DAMAGE.

 */

#include <QApplication>

#include <ros/ros.h>

#include "buggyvis/vis_frame.h"

class TurtleApp : public QApplication

{

public:

   ros::NodeHandlePtr nh_;

   TurtleApp(int& argc, char** argv)

      : QApplication(argc, argv)

   {

      ros::init(argc, argv, "buggyvis", ros::init_options::NoSigintHandler);

      nh_.reset(new ros::NodeHandle);

   }

   int exec()

   {

      buggysim::TurtleFrame frame;

      frame.show();

      return QApplication::exec();

   }

};

int main(int argc, char** argv)

{

   TurtleApp app(argc, argv);

   return app.exec();

}