plc_node.cpp

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#include "plc.h"

int main(int argc,char**argv)
{
        // Initialize ROS
        ros::init(argc,argv,"plc_base");
        
        ros::NodeHandle nh("~");
        
        //Ip of the Plc server
        std::string ip;
        //Port of the Plc server
        std::string port;
        
        //Get the port and ip address of the atlascar PLC
        nh.param("server_port",port,std::string("Not found"));
        nh.param("server_ip",ip,std::string("Not found"));

        //Create the Plc Class
        atlascar_base::Plc plc_control(nh,ip,port);
        
        //Initialize the plc control class
        plc_control.init();
        
        //Setup message advertise and subscription
        plc_control.setupMessaging();
        
        //Main program loop
        std::cout<<"Loop start"<<std::endl;
        plc_control.loop();
        
        return 0;
}