aggregator_node.cpp

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#include <diagnostic_aggregator/aggregator.h>
#include <exception>
 
using namespace std;
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "diagnostic_aggregator");
  
  try
  {
  diagnostic_aggregator::Aggregator agg;
  
  ros::Rate pub_rate(agg.getPubRate());
  while (agg.ok())
  {
    ros::spinOnce();
    agg.publishData();
    pub_rate.sleep();
  }
  }
  catch (exception& e)
  {
    ROS_FATAL("Diagnostic aggregator node caught exception. Aborting. %s", e.what());
    ROS_BREAK();
  }
  
  exit(0);
  return 0;
}