state_estimator_node.cpp

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#include "ros/ros.h"
#include <ros/console.h>
 
#include "state_estimator/state_estimator.h"
 
 
int main(int argc, char **argv)
{
    int controller_frequency = 200;
 
    double gait_period = 0.4;
 
    StateEstimator state_estimator(controller_frequency, gait_period);
 
    ros::Rate control_rate(controller_frequency);
 
    while(ros::ok())
    {   
        ros::spinOnce();
        state_estimator.UpdateStates();
        //state_estimator.PrintStates();
        state_estimator.PublishBodyTwistState();
        control_rate.sleep();
    }
    
 
    return 0;
}