publish_onsub.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 an empty 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/TestEmpty.h> 00043 00044 int32_t g_msg_count = 0; 00045 void subscriberCallback(const ros::SingleSubscriberPublisher& pub) 00046 { 00047 test_roscpp::TestEmpty msg; 00048 for(int i = 0; i < g_msg_count; i++) 00049 { 00050 pub.publish(msg); 00051 ROS_INFO("published message %d", i); 00052 } 00053 } 00054 00055 #define USAGE "USAGE: publish_empty <count>" 00056 00057 int main(int argc, char** argv) 00058 { 00059 ros::init(argc, argv, "publish_onsub"); 00060 00061 if(argc != 2) 00062 { 00063 puts(USAGE); 00064 exit(-1); 00065 } 00066 00067 g_msg_count = atoi(argv[1]); 00068 00069 ros::NodeHandle nh; 00070 ros::Publisher pub = nh.advertise<test_roscpp::TestEmpty>("test_roscpp/pubsub_test", g_msg_count, boost::bind(subscriberCallback, _1)); 00071 00072 ros::spin(); 00073 }