RobotControlMuxNode.cpp

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#include "ros/ros.h"
#include <rsm_core/RobotControlMux.h>

boost::shared_ptr<rsm::RobotControlMux> robot_control_mux;

void loopCallback(const ros::TimerEvent&) {
        robot_control_mux->publishTopics();
}

int main(int argc, char **argv) {
        ros::init(argc, argv, "robotControlMuxNode");
        ros::NodeHandle private_nh("~");
        double loop_rate;
        private_nh.param("update_frequency", loop_rate, 20.0);
        ros::Timer loop_timer = private_nh.createTimer(ros::Duration(1 / loop_rate),
                        loopCallback);
        robot_control_mux.reset(new rsm::RobotControlMux());
        ros::spin();
        robot_control_mux.reset();
        return 0;
}