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@@ -20,24 +20,30 @@ int Perception::Init()
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node_handle_.reset(new ros::NodeHandle());
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node_handle_.reset(new ros::NodeHandle());
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LOG(INFO) << Name() << " Init end.";
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LOG(INFO) << Name() << " Init end.";
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+ return ROBOT_SUCCESS;
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}
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}
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int Perception::Start()
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int Perception::Start()
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{
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{
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+ LOG(INFO) << Name() << " Start start...";
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try
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try
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{
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{
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ros::Subscriber sub = node_handle_->subscribe(robot::common::CanDataAnalysis, 1000, &Perception::CanTopicCallback, this);
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ros::Subscriber sub = node_handle_->subscribe(robot::common::CanDataAnalysis, 1000, &Perception::CanTopicCallback, this);
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+ ros::spin();
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}
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}
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catch(ros::Exception e)
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catch(ros::Exception e)
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{
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{
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- LOG(INFO) << Name() << " Start exception is:" << e.what() ;
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- }
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- ros::spin();
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+ LOG(INFO) << Name() << " Start exception is:" << e.what();
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+ return ROBOT_FAILTURE;
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+ }
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+ LOG(INFO) << Name() << " Start end.";
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+ return ROBOT_SUCCESS;
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}
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}
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void Perception::Stop()
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void Perception::Stop()
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{
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{
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-
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+ LOG(INFO) << Name() << " Stop start...";
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+ LOG(INFO) << Name() << " Stop end.";
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}
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}
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