sem/5g_drone_ROS2
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add test calling method while node spinning

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Sem van der Hoeven
2023-03-03 13:37:31 +01:00
parent 4df0d69b53
commit b88d8beb39
1 changed files with 54 additions and 53 deletions
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25
drone_sensors/src/height_sensor.cpp
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@@ -13,15 +13,18 @@ class HeightSensorPublisher : public rclcpp::Node
{ {
publisher_ = this->create_publisher<std_msgs::msg::String>("height_sensor", 10); publisher_ = this->create_publisher<std_msgs::msg::String>("height_sensor", 10);
timer_ = this->create_wall_timer( timer_ = this->create_wall_timer(
1ms, std::bind(&HeightSensorPublisher::timer_callback, this)); 500ms, std::bind(&HeightSensorPublisher::timer_callback, this));
RCLCPP_INFO(this->get_logger(), "Constructor of height sensor publisher"); RCLCPP_INFO(this->get_logger(), "Constructor of height sensor publisher");
setup_serial_port(); setup_serial_port();
} }
void test()
{
RCLCPP_INFO(this->get_logger(), "Je moeder is een plopkoek");
}
private: private:
/** /**
* @brief Timer callback function to publish the height sensor data * @brief Timer callback function to publish the height sensor data
* *
@@ -56,10 +59,6 @@ class HeightSensorPublisher : public rclcpp::Node
serial_port.close(); serial_port.close();
} }
void test()
{
RCLCPP_INFO(this->get_logger(), "Je moeder is een plopkoek");
}
rclcpp::TimerBase::SharedPtr timer_; rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_; rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
std::fstream serial_port; // serial port for reading from device std::fstream serial_port; // serial port for reading from device
@@ -70,14 +69,16 @@ int main(int argc, char *argv[])
rclcpp::init(argc, argv); rclcpp::init(argc, argv);
rclcpp::executors::SingleThreadedExecutor executor; rclcpp::executors::SingleThreadedExecutor executor;
auto node = std::make_shared<HeightSensorPublisher>(); rclcpp::Node::SharedPtr node = std::make_shared<HeightSensorPublisher>();
node.get()->setup_serial_port();
executor.add_node(node); executor.add_node(node);
executor.spin(); executor.spin();
// rclcpp::spin(std::make_shared<HeightSensorPublisher>()); // rclcpp::spin(std::make_shared<HeightSensorPublisher>());
while (true)
{
node->test();
}
rclcpp::shutdown(); rclcpp::shutdown();
return 0; return 0;
} }