control_node.cpp

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// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2020 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// 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.
// -- END LICENSE BLOCK ------------------------------------------------
 
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
 
// Ros
#include <ros/ros.h>
 
// Ros control
#include <controller_manager/controller_manager.h>
 
// This project
#include "hw_interface.h"
#include "ros/time.h"
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "hw_interface_example");
  ros::NodeHandle nh;
  examples::HWInterface hw_interface;
  controller_manager::ControllerManager controller_manager(&hw_interface);
 
  int control_rate;
  if (!nh.getParam("control_rate", control_rate))
  {
    control_rate = 125;
    ROS_INFO_STREAM("Failed to load 'control_rate' from parameter server. Using default " << control_rate);
  }
 
  // Control cycle for the robot
  ros::Rate rate(control_rate);
 
  ros::AsyncSpinner spinner(2);
  spinner.start();
 
  while (ros::ok())
  {
    auto period = rate.expectedCycleTime();  // use nominal cycle
 
    hw_interface.read(ros::Time::now(), period);
    hw_interface.write(ros::Time::now(), period);
    controller_manager.update(ros::Time::now(), period);
 
    rate.sleep();
  }
 
  return 0;
}