int main(int argc, char **argv) {
ros::init(argc, argv, "controller_debugger");
ros::NodeHandle node_handle;
Debugger debugger;
ros::Subscriber cte_subscriber = node_handle.subscribe("controller/cross_track_error", 2,
&Debugger::updateCTEPlotData, &debugger);
ros::Subscriber pose_subscriber = node_handle.subscribe("localization/pose", 2,
&Debugger::updateCurrentPath, &debugger);
ros::Subscriber path_subscriber = node_handle.subscribe("local_planner/path", 2,
&Debugger::updateTargetPath, &debugger);
ros::Rate loop_rate(100);
while (ros::ok()) {
int debug_mode = 0;
node_handle.getParam("/controller_debugger/debug_mode", debug_mode);
debugger.display(debug_mode);
ros::spinOnce();
loop_rate.sleep();
}
}
