rosR.cpp

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#include "rosR.h"

void rrosSpinOnce()     { ros::spinOnce(); }
void rrosSpin()                 { ros::spin(); }
bool rrosOK()                   { return ros::ok(); }
double rrosTimeNow()    {
        //std::ostringstream out;
        //out << std::fixed << std::setprecision(16) << ros::Time::now().toSec();
        //return const_cast<char*>(out.str().c_str());
        return ros::Time::now().toSec();
}

void rrosLog(char *message, unsigned char type){
        switch(type){
                case 0: { ROS_DEBUG("%s",message); break;}
                case 1: { ROS_INFO("%s",message); break;}
                case 2: { ROS_WARN("%s",message); break;}
                case 3: { ROS_ERROR("%s",message); break;}
                case 4: { ROS_FATAL("%s",message); break;}
                default: {      ROS_INFO("%s",message); }
        }
}

ros::NodeHandle* rrosInitNode(char *name){
        int argc = 0;

        ros::init(argc, NULL, name);
        ros::NodeHandle *handle = new ros::NodeHandle();
        
        return handle;
}