org.mybot.turtlesim.rest.TurtlesimVelocityPublisherResourceNodesRunner.java Source code

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Here is the source code for org.mybot.turtlesim.rest.TurtlesimVelocityPublisherResourceNodesRunner.java

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package org.mybot.turtlesim.rest;

import com.google.common.base.Preconditions;
import java.net.URI;
import javax.ws.rs.Path;
import org.mybot.turtlesim.rosjava.TurtleSim;
import org.ros.node.DefaultNodeMainExecutor;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMainExecutor;

/**
 *
 * @author akoubaa
 */

public class TurtlesimVelocityPublisherResourceNodesRunner {
    public static void main(String[] args) {

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