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Implement nodes as classes #5

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wpmccormick opened this issue Mar 7, 2019 · 0 comments

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wpmccormick commented Mar 7, 2019

That's how the nodes in the ROS-I training material are designed, so I think it's a best-practice pattern (example template).

In summary:

Make the publishers, subscribers, service clients, service servers, etc. class member variables for a new ServoNode class.
Have the constructor take the node handle as an argument. Do parameter loading and servo TCP/UDP socket setup in the class constructor
Put the contents of the while loop into a callback that gets triggered by a timer.
Have a very minimal main function that just creates a new instance of ServoNode and then spins.

Originally posted by @schornakj in #4

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