pub_sub.cpp
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 /* Author: Brian Gerkey */ 00031 00032 /* 00033 * Publish a message N times, back to back 00034 */ 00035 00036 #include <string> 00037 #include <cstdio> 00038 #include <time.h> 00039 #include <stdlib.h> 00040 00041 #include "ros/ros.h" 00042 #include <test_roscpp/TestArray.h> 00043 00044 int32_t g_array_size = 1; 00045 00046 void messageCallback(const test_roscpp::TestArrayConstPtr& msg, ros::Publisher pub) 00047 { 00048 test_roscpp::TestArray copy = *msg; 00049 copy.counter++; 00050 00051 while (ros::ok() && pub.getNumSubscribers() == 0) 00052 { 00053 ros::Duration(0.01).sleep(); 00054 } 00055 00056 pub.publish(copy); 00057 } 00058 00059 #define USAGE "USAGE: publish_n_fast <sz>" 00060 00061 int main(int argc, char** argv) 00062 { 00063 ros::init(argc, argv, "pub_sub"); 00064 00065 if(argc != 2) 00066 { 00067 puts(USAGE); 00068 exit(-1); 00069 } 00070 00071 g_array_size = atoi(argv[1]); 00072 00073 ros::NodeHandle nh; 00074 00075 ros::Publisher pub = nh.advertise<test_roscpp::TestArray>("test_roscpp/pubsub_test", 1); 00076 ros::Subscriber sub = nh.subscribe<test_roscpp::TestArray>("test_roscpp/subpub_test", 1, boost::bind(messageCallback, _1, pub)); 00077 00078 ros::spin(); 00079 }