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  /* Author: Dave Coleman */
  
  #include "temoto_action_assistant/widgets/action_assistant_widget.h"
  #include <ros/ros.h>
  #include <QApplication>
  #include <QMessageBox>
  #include <boost/program_options.hpp>
  #include <signal.h>
  #include <locale.h>
  
  static void siginthandler(int param)
  {
    QApplication::quit();
  }
  
  void usage(boost::program_options::options_description& desc, int exit_code)
  {
    std::cout << desc << std::endl;
    exit(exit_code);
  }
  
  int main(int argc, char** argv)
  {
    // Parse parameters
    namespace po = boost::program_options;
  
    // Declare the supported options
    po::options_description desc("Allowed options");
    desc.add_options()
      ("help,h", "Show help message")("debug,g", "Run in debug/test mode")
      ("ft_path", po::value<std::string>(), "Path to package generator templates")
      ("ta_path", po::value<std::string>(), "Base path to where action package is generated to")
      ("du_path", po::value<std::string>(), "Path to default UMRF that will be presented in the assistant");
  
    // Process options
    po::variables_map vm;
    try
    {
      po::store(po::parse_command_line(argc, argv, desc), vm);
      po::notify(vm);
  
      if (vm.count("help"))
      {
        usage(desc, 0);
      }
    }
    catch (const std::exception& e)
    {
      std::cerr << e.what() << std::endl;
      usage(desc, 1);
    }
    // Start ROS Node
    ros::init(argc, argv, "temoto_action_assistant", ros::init_options::NoSigintHandler);
  
    // ROS Spin
    ros::AsyncSpinner spinner(1);
    spinner.start();
  
    ros::NodeHandle nh;
  
    // Create Qt Application
    QApplication qtApp(argc, argv);
    // numeric values should always be POSIX
    setlocale(LC_NUMERIC, "C");
  
    // // Load Qt Widget
    temoto_action_assistant::ActionAssistantWidget aaw(NULL, vm);
    aaw.setMinimumWidth(800);
    aaw.setMinimumHeight(550);
    //  aaw.setWindowState( Qt::WindowMaximized );
  
    aaw.show();
  
    signal(SIGINT, siginthandler);
  
    // Wait here until Qt App is finished
    const int result = qtApp.exec();
  
    // Shutdown ROS
    ros::shutdown();
  
    return result;
  }
  