pub_sub.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 *
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 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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/* Author: Brian Gerkey */
 
/*
 * Publish a message N times, back to back
 */
 
#include <string>
#include <cstdio>
#include <time.h>
#include <stdlib.h>
 
#include "ros/ros.h"
#include <test_roscpp/TestArray.h>
 
int32_t g_array_size = 1;
 
void messageCallback(const test_roscpp::TestArrayConstPtr& msg, ros::Publisher pub)
{
  test_roscpp::TestArray copy = *msg;
  copy.counter++;
 
  while (ros::ok() && pub.getNumSubscribers() == 0)
  {
    ros::Duration(0.01).sleep();
  }
 
  pub.publish(copy);
}
 
#define USAGE "USAGE: publish_n_fast <sz>"
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "pub_sub");
 
  if(argc != 2)
  {
    puts(USAGE);
    exit(-1);
  }
 
  g_array_size = atoi(argv[1]);
 
  ros::NodeHandle nh;
 
  ros::Publisher pub = nh.advertise<test_roscpp::TestArray>("roscpp/pubsub_test", 1);
  ros::Subscriber sub = nh.subscribe<test_roscpp::TestArray>("roscpp/subpub_test", 1, boost::bind(messageCallback, boost::placeholders::_1, pub));
 
  ros::spin();
}