int main(int argc, char **argv) { ros::init(argc, argv, NAME_OF_THIS_NODE); ros::NodeHandle n; HeartbeatClient hb(n, 1); heart = &hb; hb.start(); signal(SIGINT, mySigintHandler); if(!hb.setState(heartbeat::State::INIT)){ ROS_WARN("Heartbeat state not set"); } ROSnode node; if(!node.Prepare()){ if(!hb.setState(heartbeat::State::STOPPED)){ ROS_WARN("Heartbeat state not set"); } return 1; } ros::Rate loopRate(node.getRate()); if(!hb.setState(heartbeat::State::STARTED)){ ROS_WARN("Heartbeat state not set"); } while(ros::ok()) { node.getData(); // ros::spinOnce(); loopRate.sleep(); } return (0); }
int main(int argc, char **argv) { ros::init(argc, argv, NAME_OF_THIS_NODE); ROSnode mNode; if(!mNode.Prepare()) return -1; mNode.RunPeriodically(); return 0; }
int main(int argc, char **argv) { ros::init(argc, argv, NAME_OF_THIS_NODE); ROSnode node; ros::Rate loopRate(20); if(!node.Prepare()) return 1; //check the state periodically while(ros::ok()) { node.publishPath(); ros::spinOnce(); loopRate.sleep(); } return (0); }