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Redeclare loop_rate depending on boolean

asked 2016-02-14 12:33:11 -0500

user23fj239 gravatar image

Given this example, in which I want to decide via if which loop_rate to use when spinning

      if(my_bool)  ros::Rate loop_rate(100); //Hz
      else ros::Rate loop_rate(10);

   //thread safe regular mutex spin
    mtx_spin.lock();
    ros::spinOnce();
    mtx_spin.unlock();
    loop_rate.sleep();

The compiler complains about rate not declared, as it is out of scope. But I need the if to decide which rate to get.

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answered 2016-02-14 12:45:58 -0500

user23fj239 gravatar image

I had to move on out of the if and redeclare by loop_rate(double frequency), but with ros::Rate in front:

    ros::Rate loop_rate(rate_eff[type-1]/2+1);
    if(use_def) ros::Rate loop_rate(100);
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Asked: 2016-02-14 12:33:11 -0500

Seen: 65 times

Last updated: Feb 14 '16