publish_n_fast.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 #define USAGE "USAGE: publish_n_fast <count> <min_size> <max_size>" 00045 00046 void connectCallback(const ros::SingleSubscriberPublisher &pub, int msg_count, int min_size, int max_size) 00047 { 00048 test_roscpp::TestArray msg; 00049 for(int i = 0; i < msg_count; i++) 00050 { 00051 msg.counter = i; 00052 int j = min_size + (int) ((max_size - min_size) * (rand() / (RAND_MAX + 1.0))); 00053 msg.float_arr.resize(j); 00054 ROS_INFO("published message %d (%d bytes)\n", 00055 msg.counter, ros::serialization::Serializer<test_roscpp::TestArray>::serializedLength(msg)); 00056 pub.publish(msg); 00057 } 00058 } 00059 00060 int 00061 main(int argc, char** argv) 00062 { 00063 ros::init(argc, argv, "publish_n_fast"); 00064 ros::NodeHandle n; 00065 00066 if(argc != 4) 00067 { 00068 puts(USAGE); 00069 exit(-1); 00070 } 00071 00072 int msg_count = atoi(argv[1]); 00073 int min_size = atoi(argv[2]); 00074 int max_size = atoi(argv[3]); 00075 00076 ros::Publisher pub_ = n.advertise<test_roscpp::TestArray>("test_roscpp/pubsub_test", msg_count, boost::bind(&connectCallback, _1, msg_count, min_size, max_size)); 00077 ros::spin(); 00078 00079 return 0; 00080 }