///////////////////////////////////////////////////////////////////////////////777
int main(int argc, char ** argv) {
ros::init(argc, argv, "gpsd_client");
//GPSDClient2 client;
GPSDClient client;
if (!client.start())
{
printf("client start failed!");
return -1;
}
while(ros::ok()) {
try{
ros::spinOnce();
client.step();
}catch(Exception e)
{
printf(e.what());
}
}
client.stop();
}
int main(int argc, char ** argv) {
ros::init(argc, argv, "corobot_gps");
GPSDClient client;
//create an updater that will send information on the diagnostics topics
diagnostic_updater::Updater updater;
updater.setHardwareIDf("GPS");
updater.add("gps", &client, &GPSDClient::gps_diagnostic); //function that will be executed with updater.update()
if (!client.start())
{
updater.force_update();
return -1;
}
while(ros::ok()) {
ros::spinOnce();
updater.update();
client.step();
}
client.stop();
}
int main(int argc, char ** argv) {
ros::init(argc, argv, "gpsd_client");
ros::NodeHandle node;
ros::NodeHandle priv_node("~");
priv_node.param<std::string>("frame_id", frame_id, "");
priv_node.param<std::string>("child_frame_id", child_frame_id, "");
odom_pub = node.advertise<nav_msgs::Odometry>("odom", 10);
tf::TransformBroadcaster tfBC;
odom_broadcaster = &tfBC;
GPSDClient client;
if (!client.start())
return -1;
while(ros::ok()) {
ros::spinOnce();
client.step();
}
client.stop();
}