Timer callback

WATonomous · May 9, 2024 · 15c8cb4 · 15c8cb4
1 parent 81be633
commit 15c8cb4
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Showing 2 changed files with 8 additions and 1 deletion.
diff --git a/src/robot/control/include/control_node.hpp b/src/robot/control/include/control_node.hpp
@@ -19,6 +19,9 @@ class ControlNode : public rclcpp::Node {
 
   private:
     robot::ControlCore control_;
+    rclcpp::TimerBase::SharedPtr timer_;
+    void timer_callback();
+
 };
 
 #endif
diff --git a/src/robot/control/src/control_node.cpp b/src/robot/control/src/control_node.cpp
@@ -4,7 +4,11 @@
 
 ControlNode::ControlNode(): Node("control"), control_(robot::ControlCore())
 {
-
+  timer_ = this->create_wall_timer(std::chrono::milliseconds(1500), std::bind(&ControlNode::timer_callback, this));
+}
+
+void ControlNode::timer_callback(){
+  RCLCPP_INFO(this->get_logger(), "Timer callbakc");
 }
 
 int main(int argc, char ** argv)