docking/src/controller_node.cpp at master · rwbot/docking · GitHub

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#include <docking/Headers.h>

#include <docking/ControllerNode.h>

#include <ros/ros.h>

// Topics

//static const std::string DOCK_FRAME = "dock_truth";

//static const std::string PUBLISH_TOPIC = "/dockLines";

//geometry_msgs::PoseStamped targetPose;

int main(int argc, char **argv)

{

ROS_INFO_STREAM("INITIALIZING CONTROLLER NODE");

// Initialize the ROS Node "line_detection_node"

ros::init(argc, argv, "controller_node");

ros::NodeHandle nh;

// ros::NodeHandle nh("");

// ros::NodeHandle nh("~");

ControllerNode *controllerNode = new ControllerNode(nh);

ros::Rate rate(15);

// Spin

while(ros::ok())

{

// ROS_INFO_STREAM("CONTROLLER SPINNING");

controllerNode->publishActivation();

ros::spinOnce();

rate.sleep();

}

ROS_INFO_STREAM("EXITING NODE");

// Success

return 0;

}

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