| 219 | } |
| 220 | |
| 221 | void TurtleBot3::run() |
| 222 | { |
| 223 | RCLCPP_INFO(this->get_logger(), "Run!"); |
| 224 | |
| 225 | publish_timer(std::chrono::milliseconds(50)); |
| 226 | heartbeat_timer(std::chrono::milliseconds(100)); |
| 227 | |
| 228 | parameter_event_callback(); |
| 229 | cmd_vel_callback(); |
| 230 | } |
| 231 | |
| 232 | void TurtleBot3::publish_timer(const std::chrono::milliseconds timeout) |
| 233 | { |
nothing calls this directly
no outgoing calls
no test coverage detected