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test

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Sem van der Hoeven
2023-03-03 13:28:41 +01:00
parent 015d7d7596
commit ed71dfb0e9
1 changed files with 12 additions and 1 deletions
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13
drone_sensors/src/height_sensor.cpp
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@@ -55,6 +55,11 @@ 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
@@ -63,7 +68,13 @@ class HeightSensorPublisher : public rclcpp::Node
int main(int argc, char *argv[]) int main(int argc, char *argv[])
{ {
rclcpp::init(argc,argv); rclcpp::init(argc,argv);
rclcpp::spin(std::make_shared<HeightSensorPublisher>());
rclcpp::executors::SingleThreadedExecutor executor;
auto node = std::make_shared<HeightSensorPublisher>();
node.get()->setup_serial_port();
executor.add_node(node);
executor.spin();
// rclcpp::spin(std::make_shared<HeightSensorPublisher>());
rclcpp::shutdown(); rclcpp::shutdown();
return 0; return 0;