/*! * \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; }