add state machine

src/omnibot_core/CMakeLists.txt

@@ -127,7 +127,7 @@ include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS})
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
  INCLUDE_DIRS include
- LIBRARIES ${PROJECT_NAME}_lib
+ LIBRARIES ${PROJECT_NAME}_lib state_machine_lib
  CATKIN_DEPENDS roscpp rospy std_msgs 
 #  DEPENDS system_lib
 )
@@ -147,7 +147,8 @@ include_directories(
 ## Declare a C++ library
 add_library(${PROJECT_NAME}
   src/${PROJECT_NAME}_lib/omnibot_core_lib.cpp
-)
+  src/state_machine_lib/state_machine_lib.cpp
+  )
 
 ## Add cmake target dependencies of the library
 ## as an example, code may need to be generated before libraries
@@ -157,7 +158,8 @@ add_library(${PROJECT_NAME}
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME}_node src/${PROJECT_NAME}_node.cpp src/${PROJECT_NAME}_lib/${PROJECT_NAME}_lib.cpp )
+add_executable(${PROJECT_NAME}_node src/${PROJECT_NAME}_node.cpp src/${PROJECT_NAME}_lib/${PROJECT_NAME}_lib.cpp src/state_machine_lib/state_machine_lib.cpp )
+
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the

src/omnibot_core/include/state_machine_lib/state_machine_lib.h

@@ -0,0 +1,16 @@
+#ifndef __STATE_MACHINE_LIB_H__
+#define __STATE_MACHINE_LIB_H__
+#include <ros/ros.h>
+
+class STATE_MACHINE_LIB
+{
+private:
+    ros::NodeHandle *_nh;
+public:
+    STATE_MACHINE_LIB();
+    ~STATE_MACHINE_LIB();
+};
+
+
+
+#endif // __STATE_MACHINE_LIB_H__

src/omnibot_core/src/state_machine_lib/state_machine_lib.cpp

@@ -0,0 +1,9 @@
+#include "state_machine_lib/state_machine_lib.h"
+
+STATE_MACHINE_LIB::STATE_MACHINE_LIB(/* args */)
+{
+}
+
+STATE_MACHINE_LIB::~STATE_MACHINE_LIB()
+{
+}