int main(int argc, char** argv) {
ros::init(argc, argv, "i2cnode");
ros::NodeHandle nh;
ros::NodeHandle n("~");
double accRate, gyroRate, magRate, barRate, avrRate, pubRate;
ROS_INFO("fmAirframe : Reading parameters...");
n.param<double> ("accRate", accRate, 100);
n.param<double> ("gyroRate", gyroRate, 100);
n.param<double> ("magRate", magRate, 50);
n.param<double> ("barRate", barRate, 25);
n.param<double> ("avrRate", avrRate, 50);
n.param<double> ("pubRate", pubRate, 50);
estimator = new kalman(nh, n);
ROS_INFO("fmAirframe : Advertising topics...");
accPublisher = nh.advertise<fmMsgs::accelerometer>("/accData", 1);
gyroPublisher = nh.advertise<fmMsgs::gyroscope>("/gyroData", 1);
magPublisher = nh.advertise<fmMsgs::magnetometer>("/magData", 1);
statePublisher = nh.advertise<fmMsgs::airframeState>("/airframeState", 1);
radioPublisher = nh.advertise<fmMsgs::airframeControl>("/radioData", 1);
batteryPublisher = nh.advertise<fmMsgs::battery>("/batteryData", 1);
pitotPublisher = nh.advertise<fmMsgs::airSpeed>("/pitotData", 1);
rangePublisher = nh.advertise<fmMsgs::altitude>("/altData", 1);
i2cfile i2c(3);
ROS_INFO("fmAirframe : Starting hardware interfaces...");
avr myAVR(&i2c, &nh, ros::Rate(avrRate), &avrDataCallback);
adxl345 myAcc(&i2c, &nh, ros::Rate(accRate), &accDataCallback);
hmc5883l myMag(&i2c, &nh, ros::Rate(magRate), &magDataCallback);
bmp085 myBar(&i2c, &nh, ros::Rate(barRate), &barDataCallback);
itg3200 myGyro(&i2c, &nh, ros::Rate(gyroRate), &gyroDataCallback);
myAvr = &myAVR;
ROS_INFO("fmAirframe : Subscribint to topics...");
servoSubscriber = nh.subscribe("/servoData", 1, avrSetControlsCallback);
ros::Timer pub_timer = nh.createTimer(ros::Duration(1/pubRate), pubCallback);
ROS_INFO("fmAirframe : Spinning...");
ros::spin();
return 0;
}
int main(int argc, char** argv) {
bar myBar(1);
return 0;
}
