From 61582b41bbc758ab7435dde2bb310822bd2d326a Mon Sep 17 00:00:00 2001
From: Joan Perez Ibarz <jperez@iri.upc.edu>
Date: Fri, 21 Jan 2011 14:49:45 +0000
Subject: [PATCH] adding new files for iri_local_planner to test iri_core
algorithm base
---
include/iri_base_algorithm/iri_base_algorithm.h | 14 +++-----------
1 file changed, 3 insertions(+), 11 deletions(-)
diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index a10569d..4d9f8ec 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/include/iri_base_algorithm/iri_base_algorithm.h
@@ -49,8 +49,6 @@ class IriBaseAlgorithm
template <class Algorithm>
IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm(): private_node_handle_("~"), loop_rate(DEFAULT_RATE)
{
-// this->driver_.setPostOpenHook(boost::bind(&CIriNode::postOpenHook, this));
-
// create the status thread
this->thread_server=CThreadServer::instance();
this->main_thread_id="main_thread";
@@ -69,14 +67,8 @@ void *IriBaseAlgorithm<Algorithm>::mainThread(void *param)
while(ros::ok())
{
-// std::cout << __LINE__ << ": driver state=" << iriNode->driver_.getStateName() << std::endl;
-// if(iriNode->driver_.isRunning())
-// {
iriNode->mainNodeThread();
-
-// ros::spinOnce();
iriNode->loop_rate.sleep();
-// }
}
pthread_exit(NULL);
@@ -92,10 +84,10 @@ template <class AlgImplTempl>
int main(int argc, char **argv, std::string name)
{
ros::init(argc, argv, name);
+
AlgImplTempl algImpl;
-// algImpl.AlgImplTempl::mainThread();
-ros::spin();
- return 0;
+
+ return ros::spin();
}
}
--
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