text: /**
   * MIT License
  *
  * Copyright(c) 2021
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files(the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
  *
  * The above copyright notice and this permission notice shall be included in all
  * copies or substantial portions of the Software.
  *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
  *
  * @file dcrobot_node.cpp
  * @author Driver: Hrushikesh Budhale Navigator: Abhijit Mahalle
  * @brief Main file for dcrobot ros node
  * @version 0.1
  * @date 2021-11-29
  * 
  * @copyright Copyright (c) 2021
  * 
  */
  
  #include "dcrobot/dcrobot.hpp"
  
  
  int main(int argc, char *argv[]) {
      // Initialize the node
      ros::init(argc, argv, "dcrobot_node");
      ROS_INFO_STREAM("[dcrobot_node] Started dcrobot_node");
      ros::NodeHandle nh_;
  
      DCRobot dcr(&nh_);  // Create DCRobot object
  
      ros::Duration(10).sleep();
      ros::Rate r(10);
      while (ros::ok()) {
          dcr.handle_states();
          r.sleep();
          ros::spinOnce();
      }
      return 0;
  }
  