Function main

clover/src/led.cpp:297–335

}

int main(int argc, char **argv)
{
	ros::init(argc, argv, "led");
	ros::NodeHandle nh, nh_priv("~");

	nh_priv.param("blink_rate", blink_rate, 2.0);
	nh_priv.param("blink_fast_rate", blink_fast_rate, blink_rate * 2);
	nh_priv.param("fade_period", fade_period, 0.5);
	nh_priv.param("wipe_period", wipe_period, 0.5);
	nh_priv.param("flash_delay", flash_delay, 0.1);
	nh_priv.param("rainbow_period", rainbow_period, 5.0);

	nh_priv.param("notify/low_battery/threshold", low_battery_threshold, 3.7);
	nh_priv.param("notify/error/ignore", error_ignore, {});

	std::string led; // led namespace
	nh_priv.param("led", led, std::string("led"));
	if (!led.empty()) led += "/";

	ros::service::waitForService(led + "set_leds"); // cannot work without set_leds service
	set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>(led + "set_leds", true);

	// wait for leds count info
	handleState(*ros::topic::waitForMessage<led_msgs::LEDStateArray>(led + "state", nh));

	auto state_sub = nh.subscribe(led + "state", 1, &handleState);

	auto set_effect = nh.advertiseService(led + "set_effect", &setEffect);

	auto mavros_state_sub = nh.subscribe("mavros/state", 1, &handleMavrosState);
	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleBattery);
	auto rosout_sub = nh.subscribe("/rosout_agg", 1, &handleLog);

	timer = nh.createTimer(ros::Duration(0), &proceed, false, false);

	ROS_INFO("ready");
	notify("startup");
	ros::spin();
}