node.cpp

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#include <ros/ros.h>
#include <tf/transform_listener.h>

#include <nav2d_operator/RobotOperator.h>

using namespace ros;

int main(int argc, char **argv)
{
        init(argc, argv, NODE_NAME);
        NodeHandle n("~/");

        double frequency;
        n.param("frequency", frequency, 100.0);
        ROS_INFO("Operator will run at %.2f Hz.", frequency);

        RobotOperator robOp;
        
        Rate loopRate(frequency);
        while(ok())
        {
                spinOnce();
                robOp.executeCommand();
                loopRate.sleep();
                if(loopRate.cycleTime() > ros::Duration(1.0 / frequency))
                        ROS_WARN("Missed desired rate of %.2f Hz! Loop actually took %.4f seconds!",frequency, loopRate.cycleTime().toSec());
        }
        return 0;       
}