initial commit

main.cpp

@@ -0,0 +1,34 @@
+#include "quadruped_wheel/qw_state_machine.hpp"
+
+#ifdef USE_SIMULATION
+    #define BACKWARD_HAS_DW 1
+    #include "backward.hpp"
+    namespace backward{
+        backward::SignalHandling sh;
+    }
+#endif
+
+using namespace types;
+MotionStateFeedback StateBase::msfb_ = MotionStateFeedback();
+
+int main(int argc, char **argv){
+    std::cout << "State Machine Start Running" << std::endl;
+    rclcpp::init(0, 0);
+    RobotName robot_name = RobotName::FireAnt;
+    for (int i = 1; i < argc; ++i) {
+        const std::string arg(argv[i]);
+        if (arg == "--robot=m20") robot_name = RobotName::M20;
+        if (arg == "--robot=fire_ant") robot_name = RobotName::FireAnt;
+    }
+    //KeyBoard control
+    std::shared_ptr<StateMachineBase> fsm = std::make_shared<qw::QwStateMachine>(robot_name, RemoteCommandType::kKeyBoard);
+    //Gamepad control
+    // std::shared_ptr<StateMachineBase> fsm = std::make_shared<qw::QwStateMachine>(RobotName::M20, RemoteCommandType::kGamepad);
+    
+    fsm->Start();
+    fsm->Run();
+    fsm->Stop();
+
+    rclcpp::shutdown();
+    return 0;
+}