joystick_controller_node.cpp

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#include "ros/ros.h"
 
#include "joystick_controller/joystick_controller.h"
 
int main(int argc, char **argv)
{
    JoystickController controller;
 
    controller.initROS();
 
    ROS_INFO("Initialization complete");
 
    ros::Rate publish_rate(50.0);
 
    while(ros::ok())
    {
        ros::spinOnce();
        if(!controller.isControllerPaused())
        {
            controller.publishTwistCommand();
        }
        publish_rate.sleep();
    }
 
    return 0;
}