main.cpp

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/*******************************************************************************
* Copyright 2018 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/

/* Author: SCH */

// include
#include "op3_localization/op3_localization.h"

//node main
int main(int argc, char **argv)
{
  //init ros
  ros::init(argc, argv, "op3_localization");

  //create ros wrapper object
  robotis_op::OP3Localization op3_localization;

  //set node loop rate
  ros::Rate loop_rate(10);

  //node loop
  while ( ros::ok() )
  {
    op3_localization.process();

    //execute pending callbacks
    ros::spinOnce();

    //relax to fit output rate
    loop_rate.sleep();
  }

  //exit program
  return 0;
}