publisher_rate.cpp

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// Publish big data chunks
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
 
#include <ros/publisher.h>
#include <ros/init.h>
#include <ros/node_handle.h>
 
#include <std_msgs/Int8MultiArray.h>
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "publisher");
  ros::NodeHandle n;
 
  const size_t NUM_BYTES = 8;
  std_msgs::Int8MultiArray data;
  data.data.reserve(NUM_BYTES);
 
  assert(argc > 1);
  float frequency = atof(argv[1]);
 
  ros::Publisher pub = n.advertise<std_msgs::Int8MultiArray>("data", 1);
  ros::Rate rate(frequency);
 
  size_t start = 0;
  while(ros::ok())
  {
    data.data.clear();
    for(size_t i = 0; i < NUM_BYTES; ++i)
    {
      data.data.push_back(start + i);
    }
    pub.publish(data);
    rate.sleep();
    start++;
  }
  return 0;
}