Quadrotor

/* This file is part of RGBDSLAM.

 * 

 * RGBDSLAM is free software: you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation, either version 3 of the License, or

 * (at your option) any later version.

 * 

 * RGBDSLAM is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 * 

 * You should have received a copy of the GNU General Public License

 * along with RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.

 */

#include "qtros.h"

QtROS::QtROS(int argc, char *argv[], const char* node_name) {

  std::cout << "Initializing Node...\n";

  ros::init(argc, argv, node_name);

  n = new ros::NodeHandle(node_name); //Use node name as Ros Namespace

  ROS_INFO("Connected to roscore");

  quitfromgui = false; 

}

void QtROS::quitNow(){ 

  quitfromgui = true; 

}

void QtROS::run(){ 

  ros::Rate r(30); // 30 hz. Kinect has 30hz and we are far from processing every frame anyhow.

  while(ros::ok() && !quitfromgui) {

    ros::spinOnce(); 

    r.sleep();}

  if (!quitfromgui) {

    Q_EMIT rosQuits();

    ROS_INFO("ROS-Node Terminated\n"); 

    ros::shutdown();//Not sure if necessary

  }

}