From e3f248dcd2e841477a9f5f35ca397805d9cddb84 Mon Sep 17 00:00:00 2001
From: Paul D'Angio <pcdangio@gmail.com>
Date: Mon, 26 Oct 2020 17:43:06 -0400
Subject: [PATCH] improved ros_node code organization
---
src/ros_node.cpp | 4 ++++
src/ros_node.h | 1 +
2 files changed, 5 insertions(+)
diff --git a/src/ros_node.cpp b/src/ros_node.cpp
index 9b2431e..d7f9213 100644
--- a/src/ros_node.cpp
+++ b/src/ros_node.cpp
@@ -7,6 +7,7 @@
#include <cmath>
+// CONSTRUCTORS
ros_node::ros_node(driver *driver, int argc, char **argv)
{
// Create a new driver.
@@ -70,6 +71,7 @@ ros_node::~ros_node()
delete ros_node::m_driver;
}
+// ROS
void ros_node::spin()
{
// Spin.
@@ -79,6 +81,7 @@ void ros_node::spin()
ros_node::deinitialize_driver();
}
+// METHODS
void ros_node::deinitialize_driver()
{
try
@@ -92,6 +95,7 @@ void ros_node::deinitialize_driver()
}
}
+// CALLBACKS
void ros_node::data_callback(driver::data data)
{
// Create accelerometer message.
diff --git a/src/ros_node.h b/src/ros_node.h
index 841e903..f533bd9 100644
--- a/src/ros_node.h
+++ b/src/ros_node.h
@@ -56,6 +56,7 @@ private:
/// \brief deinitialize_driver Deinitializes the driver.
void deinitialize_driver();
+ // CALLBACKS
/// \brief data_callback The callback function for when new data is available.
/// \param data The latest data read from the MPU9250/AK8963.
void data_callback(driver::data data);
--
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