clock_relay_node.cpp

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#include "clock_relay/clock_relay.h"
#include "ros/ros.h"

#include <vector>
#include <string>

int main(int argc, char *argv[])
{
  ros::init(argc, argv, "clock_relay_node");

  ros::NodeHandle private_nh("~");

  std::string parameter_namespace;
  if (private_nh.getParam("parameter_namespace", parameter_namespace))
  {
    private_nh = ros::NodeHandle(parameter_namespace);
  }

  std::string from, to;
  if (!private_nh.getParam("from", from) && !private_nh.getParam("to", to))
  {
    ROS_FATAL("Must provide either 'from' and 'to' namespace parameters");
    return 1;
  }

  if (from == to)
  {
    ROS_FATAL("'from' and 'to' namespaces must not be equal");
    return 1;
  }

  ros::NodeHandle origin(from), target(to);

  std::string clock_relay_type;
  if (!private_nh.getParam("clock_relay_type", clock_relay_type))
  {
    ROS_FATAL_STREAM("Must specify if clock relay type is source or sink");
    return 1;
  }

  double throttle_frequency = 0.0;
  std::string key;
  if (private_nh.searchParam("throttle_frequency", key))
  {
    std::string val;
    private_nh.getParam(key, throttle_frequency);
  }

  clock_relay::ClockRelay clock_relay(from, to, clock_relay_type, throttle_frequency);

  ros::spin();

  return 0;
}