int
main(int argc, char **argv)
{
signal(SIGINT, signal_handler);
carmen_ipc_initialize(argc, argv);
carmen_param_check_version(argv[0]);
define_messages();
//read_parameters(argc, argv);
//select_wave_form();
carmen_ipc_addPeriodicTimer(timer_period, timer_handler, NULL);
//build_trajectory_stop_smooth_trajectory_phi();
//carmen_ipc_addPeriodicTimer(timer_period, phi_handler, NULL);
//carmen_ipc_addPeriodicTimer(4.0, vel_handler, NULL);
carmen_ipc_dispatch();
return 0;
}
int
main(int argc, char **argv)
{
double x, y, theta, timestamp;
int num_messages_per_second;
if (argc < 5)
{
printf("Use %s <num messages per second> <x> <y> <theta>\n", argv[0]);
exit(-1);
}
num_messages_per_second = atoi(argv[1]);
x = atof(argv[2]);
y = atof(argv[3]);
theta = atof(argv[4]);
carmen_ipc_initialize(argc, argv);
define_messages();
double sleep_time = (1.0 / (double) num_messages_per_second) * 10e5;
while (1)
{
timestamp = carmen_get_time();
publish_fused(x, y, theta, timestamp);
publish_globalpos(x, y, theta, timestamp);
usleep((int) sleep_time);
printf("Published globalpos(%lf, %lf, %lf) at timestamp %lf\n", x, y, theta, timestamp);
}
return 0;
}
