main.cpp

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#include <sbg_device.h>
 
using sbg::SbgDevice;
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "sbg_device");
  ros::NodeHandle node_handle;
 
  try
  {
    uint32_t loopFrequency;
 
    ROS_INFO("SBG DRIVER - Init node, load params and connect to the device.");
    SbgDevice sbg_device(node_handle);
 
    ROS_INFO("SBG DRIVER - Initialize device for receiving data");
    sbg_device.initDeviceForReceivingData();
 
    loopFrequency = sbg_device.getUpdateFrequency();
    ROS_INFO("SBG DRIVER - ROS Node frequency : %u Hz", loopFrequency);
    ros::Rate loop_rate(loopFrequency);
 
    while (ros::ok())
    {
      sbg_device.periodicHandle();
      ros::spinOnce();
      loop_rate.sleep();
    }
 
    ros::shutdown();
    return 0;
  }
  catch (ros::Exception const& refE)
  {
    ROS_ERROR("SBG_DRIVER - %s", refE.what());
  }
 
  return 0;
}