aggregator_node.cpp
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34 
38 #include <exception>
39 
40 using namespace std;
41 
42 int main(int argc, char **argv)
43 {
44  ros::init(argc, argv, "diagnostic_aggregator");
45 
46  try
47  {
49 
50  ros::Rate pub_rate(agg.getPubRate());
51  while (agg.ok())
52  {
53  ros::spinOnce();
54  agg.publishData();
55  pub_rate.sleep();
56  }
57  }
58  catch (exception& e)
59  {
60  ROS_FATAL("Diagnostic aggregator node caught exception. Aborting. %s", e.what());
61  ROS_BREAK();
62  }
63 
64  exit(0);
65  return 0;
66 }
67 
#define ROS_FATAL(...)
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
int main(int argc, char **argv)
double getPubRate() const
Publish rate defaults to 1Hz, but can be set with ~pub_rate param.
Definition: aggregator.h:128
bool ok() const
True if the NodeHandle reports OK.
Definition: aggregator.h:123
Aggregator processes /diagnostics, republishes on /diagnostics_agg.
Definition: aggregator.h:105
void publishData()
Processes, publishes data. Should be called at pub_rate.
Definition: aggregator.cpp:202
ROSCPP_DECL void spinOnce()
#define ROS_BREAK()


diagnostic_aggregator
Author(s): Kevin Watts, Brice Rebsamen
autogenerated on Mon Feb 28 2022 22:16:34