DetectionModule.cpp

// The main loop
void loop()
{
    // Initialize previous time
    std::chrono::high_resolution_clock::time_point previousTime = std::chrono::high_resolution_clock::now();

    // While the program should run and has a connection with ROS
    while (!shouldTerminate && io.ok())
    {
        // Check whether new data is available and stor the data
        if (hasNewData())
        {
            // Detect all edges in sight
            detectEdges();

            // Update passed seconds
            passedSeconds = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::high_resolution_clock::now() - previousTime).count() / 1000000000.0;

            // Execute slam
            slam();

            // Update previous time
            previousTime =  std::chrono::high_resolution_clock::now();

            // Communicate the availability of data to the GUI and the strategy module
            communicate();
        }
        // Sleep for 1 microsecond to avoid hogging all processing power
        usleep(1);
    }
}