dbus_node.cpp

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//
// Created by qiayuan on 2019/10/30.
//
 
#include "rm_dbus/dbus_node.h"
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "rm_dbus");
  DBusNode dbus_node;
  ros::Rate loop_rate(60);
  while (ros::ok())
  {
    dbus_node.run();
    loop_rate.sleep();
  }
  return 0;
}
 
DBusNode::DBusNode()
{
  dbus_pub_ = nh_.advertise<rm_msgs::DbusData>("dbus_data", 1);
  nh_.param<std::string>("serial_port", serial_port_, "/dev/usbDbus");
  dbus_.init(serial_port_.data());
}
 
void DBusNode::run()
{
  dbus_.read();
  dbus_.getData(dbus_cmd_);
  dbus_pub_.publish(dbus_cmd_);
}