throttle_node.cpp

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#include "throttle.h"

int main(int argc,char**argv)
{
        // Initialize ROS
        ros::init(argc,argv,"throttle_base");
        
        ros::NodeHandle nh("~");
        
        //Ip of the Arduino server
        std::string ip;
        //Port of the Arduino server
        std::string port;
        
        //Obtain the ip as a ros::parameter
        nh.param("server_ip",ip,std::string("Not found"));
        //Obtain the port as a ros::parameter
        nh.param("server_port",port,std::string("Not found"));

        //Create the Throttle Class
        atlascar_base::Throttle throttle_control(nh,ip,port);
        
        //Initialize the Throttle control class
        throttle_control.init();
        
        //Setup message advertise and subscription
        throttle_control.setupMessaging();
        
        //Main program loop
        throttle_control.loop();
        
        return 0;
}