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timer rather than spinOnce

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Jeremie Deray
2017-08-12 18:13:39 +02:00
parent 576817a8b6
commit 223855db6d
1 changed files with 19 additions and 16 deletions
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35
src/CLaserOdometry2DNode.cpp
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@@ -25,14 +25,14 @@ public:
CLaserOdometry2DNode(); CLaserOdometry2DNode();
~CLaserOdometry2DNode(); ~CLaserOdometry2DNode();
void process(); void process(const ros::TimerEvent &);
void publish(); void publish();
bool setLaserPoseFromTf(); bool setLaserPoseFromTf();
public: public:
bool verbose,publish_tf,new_scan_available; bool publish_tf,new_scan_available;
double freq; double freq;
@@ -79,7 +79,7 @@ CLaserOdometry2DNode::CLaserOdometry2DNode() :
//Publishers and Subscribers //Publishers and Subscribers
//-------------------------- //--------------------------
odom_pub = pn.advertise<nav_msgs::Odometry>(odom_topic, 5); odom_pub = pn.advertise<nav_msgs::Odometry>(odom_topic, 5);
laser_sub = n.subscribe<sensor_msgs::LaserScan>(laser_scan_topic,1,&CLaserOdometry2DNode::LaserCallBack,this); laser_sub = n.subscribe<sensor_msgs::LaserScan>(laser_scan_topic,1,&CLaserOdometry2DNode::LaserCallBack,this);
//init pose?? //init pose??
@@ -104,7 +104,9 @@ CLaserOdometry2DNode::CLaserOdometry2DNode() :
//Init variables //Init variables
module_initialized = false; module_initialized = false;
first_laser_scan = true; first_laser_scan = true;
ROS_INFO_STREAM("Listening laser scan from topic: " << laser_sub.getTopic());
} }
CLaserOdometry2DNode::~CLaserOdometry2DNode() CLaserOdometry2DNode::~CLaserOdometry2DNode()
@@ -155,7 +157,7 @@ bool CLaserOdometry2DNode::scan_available()
return new_scan_available; return new_scan_available;
} }
void CLaserOdometry2DNode::process() void CLaserOdometry2DNode::process(const ros::TimerEvent&)
{ {
if( is_initialized() && scan_available() ) if( is_initialized() && scan_available() )
{ {
@@ -256,17 +258,18 @@ int main(int argc, char** argv)
CLaserOdometry2DNode myLaserOdomNode; CLaserOdometry2DNode myLaserOdomNode;
//Main Loop ros::TimerOptions timer_opt;
//---------- timer_opt.oneshot = false;
ROS_INFO("initialization complete...Looping"); timer_opt.autostart = true;
ros::Rate loop_rate(myLaserOdomNode.freq); timer_opt.callback_queue = ros::getGlobalCallbackQueue();
while (ros::ok()) timer_opt.tracked_object = ros::VoidConstPtr();
{
ros::spinOnce(); //Check for new laser scans
myLaserOdomNode.process(); timer_opt.callback = boost::bind(&CLaserOdometry2DNode::process, &myLaserOdomNode, _1);
timer_opt.period = ros::Rate(myLaserOdomNode.freq).expectedCycleTime();
loop_rate.sleep(); ros::Timer rf2o_timer = ros::NodeHandle("~").createTimer(timer_opt);
}
return(0); ros::spin();
return EXIT_SUCCESS;
} }