Use spin instead of spin_some

ros-perception · Jul 16, 2024 · 0597364 · 0597364
1 parent 4aefec2
commit 0597364
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Showing 2 changed files with 2 additions and 14 deletions.
diff --git a/src/scan_to_cloud_filter_chain_node.cpp b/src/scan_to_cloud_filter_chain_node.cpp
@@ -47,13 +47,7 @@ main(int argc, char ** argv)
   rclcpp::init(argc, argv);
   auto filter_chain = std::make_shared<ScanToCloudFilterChain>();
 
-  rclcpp::WallRate loop_rate(200);
-  while (rclcpp::ok()) {
-
-    rclcpp::spin_some(filter_chain->get_node_base_interface());
-    loop_rate.sleep();
-
-  }
+  rclcpp::spin(filter_chain);
 
   return 0;
 }
diff --git a/src/scan_to_scan_filter_chain_node.cpp b/src/scan_to_scan_filter_chain_node.cpp
@@ -47,13 +47,7 @@ main(int argc, char ** argv)
   rclcpp::init(argc, argv);
   auto filter_chain = std::make_shared<ScanToScanFilterChain>();
 
-  rclcpp::WallRate loop_rate(200);
-  while (rclcpp::ok()) {
-
-    rclcpp::spin_some(filter_chain->get_node_base_interface());
-    loop_rate.sleep();
-
-  }
+  rclcpp::spin(filter_chain);
 
   return 0;
 }