00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2016, Neobotix GmbH 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Neobotix nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #include <../include/neo_relayboard_v2_node.h> 00036 00037 //####################### 00038 //#### main programm #### 00039 int main(int argc, char** argv) 00040 { 00041 // initialize ROS, spezify name of node 00042 ros::init(argc, argv, "neo_relayboard_v2_node"); 00043 neo_relayboardV2_node node; 00044 if(node.init() != 0) return 1; 00045 double requestRate = node.getRequestRate(); 00046 ros::Rate r(requestRate); //Cycle-Rate: Frequency of publishing States 00047 while(node.n.ok()) 00048 { 00049 node.HandleCommunication(); 00050 //RelayBoard 00051 node.PublishRelayBoardState(); 00052 node.PublishTemperature(); 00053 node.PublishBattVoltage(); 00054 node.PublishChargingCurrent(); 00055 node.PublishChargingState(); 00056 node.PublishEmergencyStopStates(); 00057 node.PublishRelayBoardDigOut(); 00058 node.PublishKeyPad(); 00059 //Motors 00060 node.PublishJointStates(); 00061 //IOBoard 00062 node.PublishIOBoardAnalogIn(); 00063 node.PublishIOBoardDigIn(); 00064 node.PublishIOBoardDigOut(); 00065 //USBoard 00066 node.PublishUSBoardData(); 00067 00068 ros::spinOnce(); 00069 r.sleep(); 00070 } 00071 00072 return 0; 00073 } 00074