roscpp_tutorials: notify_connect.cpp Source File

00001 /*
00002  * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #include "ros/ros.h"
00029 #include "std_msgs/String.h"
00030 
00031 #include <sstream>
00032 
00038 uint32_t g_count = 0;
00039 
00040 void chatterConnect(const ros::SingleSubscriberPublisher& pub)
00041 {
00042   std_msgs::String msg;
00043   std::stringstream ss;
00044   ss << "chatter connect #" << g_count++;
00045   ROS_INFO("%s", ss.str().c_str());
00046   msg.data = ss.str();
00047 
00048   pub.publish(msg);  // This message will get published only to the subscriber that just connected
00049 }
00050 
00051 void chatterDisconnect(const ros::SingleSubscriberPublisher& pub)
00052 {
00053   ROS_INFO("chatter disconnect");
00054 }
00055 
00056 int main(int argc, char **argv)
00057 {
00058   ros::init(argc, argv, "notify_connect");
00059   ros::NodeHandle n;
00060 
00064   ros::Publisher pub = n.advertise<std_msgs::String>("chatter", 1000, chatterConnect, chatterDisconnect);
00065 
00066   ros::spin();
00067 
00068   return 0;
00069 }
00070