/*!
* \brief Main loop of ROS node.
*
* Running with a specific frequency defined by loop_rate.
*/
int main(int argc, char** argv)
{
// initialize ROS, specify name of node
ros::init(argc, argv, "powercube_chain");
// create class
PowercubeChainNode pc_node("joint_trajectory_action");
// main loop
ros::Rate loop_rate(10); // Hz
while(pc_node.n_.ok())
{
// publish JointState
pc_node.publishJointState();
// update commands to powercubes
pc_node.updatePCubeCommands();
// read parameter
std::string operationMode;
pc_node.n_.getParam("OperationMode", operationMode);
ROS_DEBUG("running with OperationMode [%s]", operationMode.c_str());
// sleep and waiting for messages, callbacks
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
/*!
* \brief Main loop of ROS node.
*
* Running with a specific frequency defined by loop_rate.
*/
int main(int argc, char** argv)
{
// initialize ROS, specify name of node
ros::init(argc, argv, "powercube_chain");
// create class
PowercubeChainNode pc_node("joint_trajectory_action");
// main loop
double frequency;
if (pc_node.n_.hasParam("frequency"))
{
pc_node.n_.getParam("frequency", frequency);
}
else
{
frequency = 10; //Hz
ROS_WARN("Parameter frequency not available, setting to default value: %f Hz", frequency);
}
ros::Rate loop_rate(frequency); // Hz
while(pc_node.n_.ok())
{
// publish JointState
pc_node.publishJointState();
// update commands to powercubes
pc_node.updatePCubeCommands();
// read parameter
std::string operationMode;
pc_node.n_.getParam("OperationMode", operationMode);
ROS_DEBUG("running with OperationMode [%s]", operationMode.c_str());
// sleep and waiting for messages, callbacks
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
