updated ros wrapper to work with can sdk

scout_base/src/scout_base_node.cpp

@@ -0,0 +1,43 @@
+#include <string>
+#include <boost/thread.hpp>
+
+#include <ros/ros.h>
+#include <sensor_msgs/JointState.h>
+#include <tf/transform_broadcaster.h>
+#include <nav_msgs/Odometry.h>
+
+#include "scout/scout_base.hpp"
+#include "scout_base/scout_messenger.hpp"
+
+using namespace wescore;
+
+int main(int argc, char **argv)
+{
+    // setup ROS node
+    ros::init(argc, argv, "scout_odom");
+    ros::NodeHandle node("scout_robot"), private_node("~");
+
+    // instantiate a robot
+    ScoutBase robot;
+    ScoutROSMessenger messenger(robot, node);
+
+    std::string scout_can_port;
+    private_node.param<std::string>("port_name_", scout_can_port, std::string("can1"));
+    private_node.param<std::string>("odom_frame_", messenger.odom_frame_, std::string("odom"));
+    private_node.param<std::string>("base_frame_", messenger.base_frame_, std::string("base_footprint"));
+
+    // connect to scout and setup ROS subscription
+    robot.ConnectCANBus(scout_can_port);
+    messenger.SetupSubscription();
+
+    // publish robot state at 20Hz while listening to twist commands
+    ros::Rate rt(20); // 20Hz
+    while (true)
+    {
+        messenger.PublishStateToROS();
+        ros::spinOnce();
+        rt.sleep();
+    }
+
+    return 0;
+}