| 291 | } |
| 292 | |
| 293 | int main(int argc, char **argv) |
| 294 | { |
| 295 | ros::init(argc, argv, "sloam"); |
| 296 | ros::NodeHandle n("sloam"); |
| 297 | InputManager in(n); |
| 298 | // ros::spin(); |
| 299 | |
| 300 | ros::Rate r(20); // 10 hz |
| 301 | while (ros::ok()) |
| 302 | { |
| 303 | for (auto i = 0; i < 10; ++i) |
| 304 | { |
| 305 | ros::spinOnce(); |
| 306 | if (i % 5 == 0) |
| 307 | in.Run(); |
| 308 | r.sleep(); |
| 309 | } |
| 310 | } |
| 311 | |
| 312 | return 0; |
| 313 | } |