00001 #include <ros/ros.h>
00002 #include <roscpp/SetLoggerLevel.h>
00003 #include <message_transport/message_transport.h>
00004 #include <std_msgs/String.h>
00005
00006 std::string transport;
00007 unsigned int npoints = 0;
00008
00009 void callback(const std_msgs::StringConstPtr& text)
00010 {
00011 double tnow = ros::Time::now().toSec();
00012
00013
00014 ROS_INFO("%d: Text '%s' received at %f",
00015 getpid(),text->data.c_str(),tnow);
00016
00017 }
00018
00019 void setDebugLevel(const std::string & logname) {
00020 log4cxx::LoggerPtr logger = log4cxx::Logger::getLogger(logname);
00021 logger->setLevel(log4cxx::Level::getDebug());
00022 ros::console::notifyLoggerLevelsChanged();
00023 }
00024
00025
00026 int main(int argc, char** argv)
00027 {
00028 ros::init(argc, argv, "test_receiver", ros::init_options::AnonymousName);
00029 ros::NodeHandle nh;
00030
00031 message_transport::MessageTransport<std_msgs::String>
00032 it(nh,"string_transport","std_msgs::String");
00033 std::string pkgname("string_transport");
00034 transport = std::string((argc > 1) ? argv[1] : "string_transport/raw_str");
00035 if (transport.compare(0,pkgname.length(),pkgname)) {
00036 transport = pkgname + "/" + transport;
00037 }
00038 message_transport::Subscriber sub = it.subscribe("str_source", 1, callback,
00039 transport);
00040 ROS_INFO("test_receiver started");
00041
00042 ros::spin();
00043 }
00044
