42 #define NSEC_PER_SEC 1000000000L 45 int main(
int argc,
char** argv)
47 ros::init(argc, argv,
"seed_r7_ros_controller");
53 if (!hw.
init(nh, robot_nh)) {
54 ROS_ERROR(
"Failed to initialize hardware");
68 ROS_INFO(
"ControllerManager start with %f Hz", 1.0/period);
72 long main_thread_period_ns = period*1000*1000*1000;
73 double max_interval = 0.0;
74 double ave_interval = 0.0;
76 clock_gettime(CLOCK_MONOTONIC, &m_t);
82 tm.tv_nsec = m_t.tv_nsec;
83 tm.tv_sec = m_t.tv_sec;
84 tm.tv_nsec += main_thread_period_ns;
89 clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &tm, NULL);
92 ROS_INFO(
"max: %f [ms], ave: %f [ms]", max_interval/1000, ave_interval/1000);
97 clock_gettime(CLOCK_MONOTONIC, &n_t);
98 const double measured_interval
99 = ((n_t.tv_sec - m_t.tv_sec)*
NSEC_PER_SEC + (n_t.tv_nsec - m_t.tv_nsec))/1000.0;
100 if (measured_interval > max_interval) max_interval = measured_interval;
101 if (ave_interval == 0.0) {
102 ave_interval = measured_interval;
104 ave_interval = (measured_interval + (100 - 1)*ave_interval)/100.0;
106 m_t.tv_sec = n_t.tv_sec;
107 m_t.tv_nsec = n_t.tv_nsec;
113 hw.
read (now, d_period);
115 hw.
write (now, d_period);
int main(int argc, char **argv)
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void update(const ros::Time &time, const ros::Duration &period, bool reset_controllers=false)
virtual void read(const ros::Time &time, const ros::Duration &period)
virtual void write(const ros::Time &time, const ros::Duration &period)
virtual bool init(ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)