code: /*
   * Copyright (C) 2014 pi.
   *
   * Licensed under the Apache License, Version 2.0 (the "License"); you may not
   * use this file except in compliance with the License. You may obtain a copy of
   * the License at
   *
   * http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
   * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
   * License for the specific language governing permissions and limitations under
   * the License.
   */
  
  package savi_ros_java.savi_ros_bdi;
  
  import org.apache.commons.logging.Log;
  import org.ros.message.MessageListener;
  import org.ros.namespace.GraphName;
  import org.ros.node.AbstractNodeMain;
  import org.ros.node.ConnectedNode;
  import org.ros.node.NodeMain;
  import org.ros.node.topic.Subscriber;
  
  /**
   * A simple {@link Subscriber} {@link NodeMain}.
   */
  public class SAVI_Main extends AbstractNodeMain {
  
      private SaviArchitecture agent;
  
      /**
       * Provide name of this node when requested.
       * @return
       */
      @Override
      public GraphName getDefaultNodeName() {
          return GraphName.of("rosjava/savi_ros_bdi");
      }
  
  
      /**
       * Start method for the node (can think of this as the 'main()' method.
       * @param connectedNode
       */
      @Override
      public void onStart(ConnectedNode connectedNode) {
  
          // Initialize the agent
          this.agent = new SaviArchitecture(connectedNode);
          this.agent.startAgents();
      }
  }
  