aggregator_node.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2009, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
38 #include <exception>
39 
40 using namespace std;
41 
42 int main(int argc, char **argv)
43 {
44  ros::init(argc, argv, "diagnostic_aggregator");
45 
46  try
47  {
49 
50  ros::Rate pub_rate(agg.getPubRate());
51  while (agg.ok())
52  {
53  ros::spinOnce();
54  agg.publishData();
55  pub_rate.sleep();
56  }
57  }
58  catch (exception& e)
59  {
60  ROS_FATAL("Diagnostic aggregator node caught exception. Aborting. %s", e.what());
61  ROS_BREAK();
62  }
63 
64  exit(0);
65  return 0;
66 }
67 
#define ROS_FATAL(...)
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
bool ok() const
True if the NodeHandle reports OK.
Definition: aggregator.h:123
int main(int argc, char **argv)
double getPubRate() const
Publish rate defaults to 1Hz, but can be set with ~pub_rate param.
Definition: aggregator.h:128
Aggregator processes /diagnostics, republishes on /diagnostics_agg.
Definition: aggregator.h:105
void publishData()
Processes, publishes data. Should be called at pub_rate.
Definition: aggregator.cpp:202
ROSCPP_DECL void spinOnce()
#define ROS_BREAK()


diagnostic_aggregator
Author(s): Kevin Watts, Brice Rebsamen
autogenerated on Wed Mar 27 2019 03:00:18