node.cpp

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#include <ros/ros.h>
#include "PdsNode.h"
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "pds");
  ros::NodeHandle node;
  ros::NodeHandle priv_nh("~");
 
  const int ROS_RESPONSE_TIME_MS = 100;
  const float TRY_CONNECT_EVERY_S = 1.0;
  const float WARN_EVERY_S = 10.0;
 
  std::string lcm_url;
  priv_nh.getParam("lcm_url", lcm_url);
  if (lcm_url.empty()) {
    lcm_url = "udpm://225.0.0.0:7667?ttl=1";
  }
 
  // Initialize LCM
  lcm::LCM * lcm;
  while(ros::ok()) {
    lcm = new lcm::LCM(lcm_url);
    if(lcm->good()) {
      break;
    } else {
      ROS_WARN_THROTTLE(WARN_EVERY_S,"lcm is not initialized, is the network ready?");
      delete lcm;
    }
    ros::Duration(TRY_CONNECT_EVERY_S).sleep();
  }
  ROS_INFO("LCM connected to %s", lcm_url.c_str());
 
  // Create PdsNode class
  dataspeed_pds_lcm::PdsNode n(node, priv_nh, lcm);
 
  // Handle ros callbacks asynchronous to lcm
  ros::AsyncSpinner spinner(1);
  spinner.start();
 
  // TODO: This is a little jenky, lcm handling could get its own thread
  while(ros::ok()) {
    lcm->handleTimeout(ROS_RESPONSE_TIME_MS);
  }
 
  return 0;
}