Smikkelbakje/J2S1-Kobuki
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start safety thread

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This commit is contained in:
Sam Hos
2024-11-04 13:10:16 +01:00
parent b90bca0060
commit 3af23f61cf
1 changed files with 2 additions and 2 deletions
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4
src/C++/Driver/src/main.cpp
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@@ -19,16 +19,16 @@ void setup(){
robot.startCommunication("/dev/ttyUSB0", true, null_ptr); robot.startCommunication("/dev/ttyUSB0", true, null_ptr);
client.connect(); client.connect();
client.subscribe("home/commands"); client.subscribe("home/commands");
std::thread safety([&]() { robot.robotSafety(&message); });
} }
int main(){ int main(){
setup(); setup();
std::thread safety([&]() { robot.robotSafety(&message); });
while(true){ while(true){
parseMQTT(readMQTT()); parseMQTT(readMQTT());
} }
safety.join();
return 0; return 0;
} }