publisher_for_star_subscriber.cpp
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2010, 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 /* 00031 * Author: Josh Faust 00032 */ 00033 00034 #include <ros/ros.h> 00035 #include <std_srvs/Empty.h> 00036 #include <test_roscpp/TestEmpty.h> 00037 #include <test_roscpp/TestArray.h> 00038 00039 ros::Publisher g_pub; 00040 int8_t type = 0; 00041 00042 bool switchPublisherType(std_srvs::EmptyRequest&, std_srvs::EmptyResponse&) 00043 { 00044 ros::NodeHandle nh; 00045 g_pub.shutdown(); 00046 type = (type + 1) % 2; 00047 switch (type) 00048 { 00049 case 0: 00050 g_pub = nh.advertise<test_roscpp::TestEmpty>("test_star_inter", 0); 00051 break; 00052 case 1: 00053 g_pub = nh.advertise<test_roscpp::TestArray>("test_star_inter", 0); 00054 break; 00055 } 00056 return true; 00057 } 00058 00059 void pubTimer(const ros::TimerEvent&) 00060 { 00061 g_pub.publish(test_roscpp::TestEmpty()); 00062 } 00063 00064 int main(int argc, char** argv) 00065 { 00066 ros::init(argc, argv, "publisher_for_star_subscriber"); 00067 ros::NodeHandle nh; 00068 00069 g_pub = nh.advertise<test_roscpp::TestEmpty>("test_star_inter", 0); 00070 ros::Timer t = nh.createTimer(ros::Duration(0.01), pubTimer); 00071 ros::ServiceServer s = nh.advertiseService("switch_publisher_type", switchPublisherType); 00072 ros::spin(); 00073 }