int main(int argc, char **argv)
{
ros::init(argc, argv, "can_node");
ros::NodeHandle n("~");
ros::NodeHandle nh;
std::string device,publisher_topic,subscriber_topic;
n.param<std::string>("device", device, "can0");
n.param<std::string>("publisher_topic", publisher_topic, "can_rx");
n.param<std::string>("subscriber_topic", subscriber_topic, "can_tx");
SocketCan can;
if(can.initInterface(device)<0)
{
ROS_ERROR("Could not open device: %s",device.c_str());
return -1;
}
else
{
can.can_rx_publisher_ = nh.advertise<fmMsgs::can>(publisher_topic.c_str(),1);
can.can_tx_subscriber_ = nh.subscribe(subscriber_topic.c_str(),10,&SocketCan::processCanTxEvent,&can);
ros::spin();
}
return 0;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "can_node");
ros::NodeHandle n("~");
ros::NodeHandle nh;
std::string device, publisher_topic,subscriber_topic;
std:bool send_extended_id;
n.param<std::string>("device", device, "can0");
n.param<bool>("send_extended_id", send_extended_id, false);
n.param<std::string>("can_from_device_pub", publisher_topic, "/fmSignal/can_from_device");
n.param<std::string>("can_to_device_sub", subscriber_topic, "/fmSignal/can_to_device");
SocketCan can;
can.send_extended_id = send_extended_id;
if(can.initInterface(device)<0)
{
ROS_ERROR("Could not open device: %s",device.c_str());
return -1;
}
else
{
can.can_rx_publisher_ = nh.advertise<msgs::can>(publisher_topic.c_str(),20);
can.can_tx_subscriber_ = nh.subscribe(subscriber_topic.c_str(),20,&SocketCan::processCanTxEvent,&can);
can.initialized = true;
ros::spin();
}
return 0;
}