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

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#include <docking/Headers.h>

#include <docking/PlannerNode.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 PLANNER NODE");

// Initialize the ROS Node "line_detection_node"

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

ros::NodeHandle nh;

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

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

PlannerNode *plannerNode = new PlannerNode(nh);

ros::Rate rate(1);

// Spin

while(ros::ok())

{

// ros::spin();

ros::spinOnce();

rate.sleep();

}

// Success

return 0;

}

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