left_right.cpp
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2011, 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: Troy Straszheim */ 00031 00032 /* 00033 * Basic publisher of two messages. 00034 */ 00035 00036 #include <string> 00037 #include <sstream> 00038 #include <fstream> 00039 00040 #include <time.h> 00041 #include <stdlib.h> 00042 00043 #include "ros/ros.h" 00044 #include "std_msgs/String.h" 00045 00046 int 00047 main(int argc, char** argv) 00048 { 00049 ros::init( argc, argv, "left_right"); 00050 ros::NodeHandle nh; 00051 00052 ros::Publisher left = nh.advertise<std_msgs::String>("left", 0); 00053 ros::Publisher right = nh.advertise<std_msgs::String>("right", 0); 00054 00055 std_msgs::String msg_l, msg_r; 00056 msg_l.data = "left"; 00057 msg_r.data = "right"; 00058 00059 ros::Rate loop_rate(2); 00060 00061 for (unsigned j=0; j<5; ++j) 00062 { 00063 assert(ros::ok()); 00064 00065 left.publish(msg_l); 00066 right.publish(msg_r); 00067 00068 ROS_INFO("ping!"); 00069 00070 ros::spinOnce(); 00071 loop_rate.sleep(); 00072 ros::spinOnce(); 00073 } 00074 00075 00076 return 0; 00077 }