org.mybot.turtlebot.rosjava.TurtlebotSubscribersRunner.java Source code

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Here is the source code for org.mybot.turtlebot.rosjava.TurtlebotSubscribersRunner.java

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package org.mybot.turtlebot.rosjava;

import com.google.common.base.Preconditions;
import java.net.URI;
import org.mybot.turtlebot.rosjava.*;
import org.ros.node.DefaultNodeMainExecutor;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMainExecutor;

/**
 *
 * @author ros
 */
public class TurtlebotSubscribersRunner {
    public static void main(String[] args) {

        TurtlebotSubscribers turtlebotListeners = new TurtlebotSubscribers();
        NodeMainExecutor nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
        URI masteruri = URI.create("http://" + Turtlebot.IPAddress + ":11311");
        String host = Turtlebot.IPAddress;
        NodeConfiguration pubNodeConfiguration = NodeConfiguration.newPublic(host, masteruri);
        Preconditions.checkState(turtlebotListeners != null);
        nodeMainExecutor.execute(turtlebotListeners, pubNodeConfiguration);
    }

}