Commit 92f6b2ea authored by Víctor Silos Sánchez's avatar Víctor Silos Sánchez
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parent 7098cecd
#include "foot_alg_node.h"
FootAlgNode::FootAlgNode(void) :
algorithm_base::IriBaseAlgorithm<FootAlgorithm>()
{
//init class attributes if necessary
//this->loop_rate_ = 2;//in [Hz]
// [init publishers]
// [init subscribers]
// [init services]
// [init clients]
// [init action servers]
// [init action clients]
}
FootAlgNode::~FootAlgNode(void)
{
// [free dynamic memory]
}
void FootAlgNode::mainNodeThread(void)
{
// [fill msg structures]
// [fill srv structure and make request to the server]
// [fill action structure and make request to the action server]
// [publish messages]
}
/* [subscriber callbacks] */
/* [service callbacks] */
/* [action callbacks] */
/* [action requests] */
void FootAlgNode::node_config_update(Config &config, uint32_t level)
{
this->alg_.lock();
this->config_=config;
this->alg_.unlock();
}
void FootAlgNode::addNodeDiagnostics(void)
{
}
/* main function */
int main(int argc,char *argv[])
{
return algorithm_base::main<FootAlgNode>(argc, argv, "foot_alg_node");
}
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