src
main.cpp
Go to the documentation of this file.
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#include <
sbg_device.h
>
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using
sbg::SbgDevice
;
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int
main
(
int
argc,
char
**argv)
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{
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ros::init
(argc, argv,
"sbg_device"
);
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ros::NodeHandle
node_handle;
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try
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{
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uint32_t loopFrequency;
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ROS_INFO
(
"SBG DRIVER - Init node, load params and connect to the device."
);
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SbgDevice
sbg_device(node_handle);
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ROS_INFO
(
"SBG DRIVER - Initialize device for receiving data"
);
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sbg_device.
initDeviceForReceivingData
();
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loopFrequency = sbg_device.
getUpdateFrequency
();
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ROS_INFO
(
"SBG DRIVER - ROS Node frequency : %u Hz"
, loopFrequency);
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ros::Rate
loop_rate(loopFrequency);
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while
(
ros::ok
())
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{
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sbg_device.
periodicHandle
();
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loop_rate.
sleep
();
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}
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return
0;
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}
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catch
(
ros::Exception
const
& refE)
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{
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ROS_ERROR
(
"SBG_DRIVER - %s"
, refE.what());
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}
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return
0;
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}
ros::NodeHandle
sbg::SbgDevice
Definition:
sbg_device.h:56
sbg::SbgDevice::periodicHandle
void periodicHandle(void)
Definition:
sbg_device.cpp:483
main
int main(int argc, char **argv)
Definition:
main.cpp:5
ros::init
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ros::Rate
sbg::SbgDevice::getUpdateFrequency
uint32_t getUpdateFrequency(void) const
Definition:
sbg_device.cpp:452
ROS_INFO
#define ROS_INFO(...)
ros::ok
ROSCPP_DECL bool ok()
ros::Rate::sleep
bool sleep()
sbg_device.h
Handle a connected SBG device.
ros::Exception
sbg::SbgDevice::initDeviceForReceivingData
void initDeviceForReceivingData(void)
Definition:
sbg_device.cpp:461
ROS_ERROR
#define ROS_ERROR(...)
sbg_driver
Author(s): SBG Systems
autogenerated on Sat Sep 3 2022 02:53:35