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timer rather than spinOnce

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This commit is contained in:
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();
void process();
void process(const ros::TimerEvent &);
void publish();
bool setLaserPoseFromTf();
public:
bool verbose,publish_tf,new_scan_available;
bool publish_tf,new_scan_available;
double freq;
@@ -79,7 +79,7 @@ CLaserOdometry2DNode::CLaserOdometry2DNode() :
//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);
//init pose??
@@ -104,7 +104,9 @@ CLaserOdometry2DNode::CLaserOdometry2DNode() :
//Init variables
module_initialized = false;
first_laser_scan = true;
first_laser_scan = true;
ROS_INFO_STREAM("Listening laser scan from topic: " << laser_sub.getTopic());
}
CLaserOdometry2DNode::~CLaserOdometry2DNode()
@@ -155,7 +157,7 @@ bool CLaserOdometry2DNode::scan_available()
return new_scan_available;
}
void CLaserOdometry2DNode::process()
void CLaserOdometry2DNode::process(const ros::TimerEvent&)
{
if( is_initialized() && scan_available() )
{
@@ -256,17 +258,18 @@ int main(int argc, char** argv)
CLaserOdometry2DNode myLaserOdomNode;
//Main Loop
//----------
ROS_INFO("initialization complete...Looping");
ros::Rate loop_rate(myLaserOdomNode.freq);
while (ros::ok())
{
ros::spinOnce(); //Check for new laser scans
ros::TimerOptions timer_opt;
timer_opt.oneshot = false;
timer_opt.autostart = true;
timer_opt.callback_queue = ros::getGlobalCallbackQueue();
timer_opt.tracked_object = ros::VoidConstPtr();
myLaserOdomNode.process();
timer_opt.callback = boost::bind(&CLaserOdometry2DNode::process, &myLaserOdomNode, _1);
timer_opt.period = ros::Rate(myLaserOdomNode.freq).expectedCycleTime();
loop_rate.sleep();
}
return(0);
ros::Timer rf2o_timer = ros::NodeHandle("~").createTimer(timer_opt);
ros::spin();
return EXIT_SUCCESS;
}