1.ROS节点创建定时器
// ros 头文件
// =========== Function declarations =============
void CB_mainCycle(const ros::TimerEvent& e);
void CB_publishCycle(const ros::TimerEvent& e);
// =============== Main function =================
int main( int argc, char** argv )
{
ros::init(argc, argv, "test_optim_node");
ros::NodeHandle n("~");
// 创建ros 定时器
ros::Timer cycle_timer = n.createTimer(ros::Duration(0.025), CB_mainCycle);
ros::Timer publish_timer = n.createTimer(ros::Duration(0.1), CB_publishCycle);
}
// Planing loop
void CB_mainCycle(const ros::TimerEvent& e)
{
// 周期执行的代码
//planner->plan(PoseSE2(-4,0,0), PoseSE2(4,0,0)); // hardcoded start and goal for testing purposes
}
// Visualization loop
void CB_publishCycle(const ros::TimerEvent& e)
{
// 周期执行的代码
//planner->visualize();
//visual->publishObstacles(obst_vector);
//visual->publishViaPoints(via_points);
}