/********************************************************* * * This source code is part of the Carnegie Mellon Robot * Navigation Toolkit (CARMEN) * * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas * Roy, Sebastian Thrun, Dirk Haehnel, Cyrill Stachniss, * and Jared Glover * * CARMEN is free software; you can redistribute it and/or  * modify it under the terms of the GNU General Public  * License as published by the Free Software Foundation;  * either version 2 of the License, or (at your option) * any later version. * * CARMEN is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR * PURPOSE.  See the GNU General Public License for more  * details. * * You should have received a copy of the GNU General  * Public License along with CARMEN; if not, write to the * Free Software Foundation, Inc., 59 Temple Place,  * Suite 330, Boston, MA  02111-1307 USA * ********************************************************/#include <errno.h>#include <carmen/carmen.h>#include "rflex_brake.h"voidusage( char *prgname ){  fprintf( stderr,	   "Usage: %s <brake>\n  0: brake off, 1: brake on\n",	   prgname );}     intmain( int argc, char *argv[] ){  IPC_RETURN_TYPE err;  carmen_rflex_brake_message data;  if (argc!=2) {    usage(argv[0]);    exit(1);  }  carmen_ipc_initialize(argc, argv);    data.set_brake  = atoi(argv[1]);  err = IPC_publishData (CARMEN_RFLEX_BRAKE_NAME, &data );  carmen_test_ipc(err, "Could not publish", CARMEN_RFLEX_BRAKE_NAME);  exit(0);}