neo_relayboard_node.cpp

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#include <../include/neo_relayboard_node.h>

//#######################
//#### main programm ####
int main(int argc, char** argv)
{
        // initialize ROS, spezify name of node
        ros::init(argc, argv, "neo_relayboard_node");
        neo_relayboard_node node;
        if(node.init() != 0) return 1;
        double requestRate = node.getRequestRate();
        ros::Rate r(requestRate); //Cycle-Rate: Frequency of publishing States
        while(node.n.ok())
        {
                node.requestBoardStatus();
                node.sendEmergencyStopStates();
                node.sendAnalogIn();
                node.sendRelayBoardDigOut();
                node.sendDriveStates();
                node.sendGyroBoard();
                node.sendRadarBoard();
                node.sendUSBoard();
                node.sendIOBoardDigIn();
                node.sendIOBoardDigOut();
                node.sendIOBoardAnalogIn();
                ros::spinOnce();
                r.sleep();
        }

        return 0;
}