From 9386bc2299e96ef3556d5351f0a920c60a320f06 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 13 Jul 2020 12:32:47 +0200
Subject: [PATCH] Added a new spin function (nodelet_spin) to be used in
nodelets where the ros::spin function is not required.
---
.../iri_base_algorithm/iri_base_algorithm.h | 31 +++++++++++++++++++
1 file changed, 31 insertions(+)
diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index 2953659..b9f8be2 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/include/iri_base_algorithm/iri_base_algorithm.h
@@ -152,6 +152,8 @@ class IriBaseAlgorithm
*/
int spin(void);
+ int nodelet_spin(void);
+
private:
/**
* \brief ros spin thread
@@ -380,6 +382,35 @@ int IriBaseAlgorithm<Algorithm>::spin(void)
return 0;
}
+template <class Algorithm>
+int IriBaseAlgorithm<Algorithm>::nodelet_spin(void)
+{
+ ROS_DEBUG("IriBaseAlgorithm::spin");
+
+ // initialize diagnostics
+ this->diagnostic_.setHardwareID("none");
+ this->addDiagnostics();
+
+ // assign callback to dynamic reconfigure server
+ this->dsrv_.setCallback(boost::bind(&IriBaseAlgorithm<Algorithm>::reconfigureCallback, this, _1, _2));
+
+ // create the status thread
+ pthread_create(&this->thread,NULL,this->mainThread,this);
+
+ while(ros::ok())
+ {
+ // update diagnostics
+ this->diagnostic_.update();
+
+ ros::WallDuration(this->diagnostic_.getPeriod()).sleep();
+ }
+
+ // stop ros
+ ros::shutdown();
+
+ return 0;
+}
+
// definition of the static Ctrl+C counter
/**
--
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