subscribe_unsubscribe_repeatedly.cpp
Go to the documentation of this file.00001 00002 // The roscpp_demo package has a few demos of the roscpp c++ client library 00003 // 00004 // Copyright (C) 2008, Morgan Quigley 00005 // 00006 // Redistribution and use in source and binary forms, with or without 00007 // modification, are permitted provided that the following conditions are met: 00008 // * Redistributions of source code must retain the above copyright notice, 00009 // 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 Stanford University 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. 00029 00030 #include <time.h> 00031 00032 #include "ros/ros.h" 00033 #include <test_roscpp/TestArray.h> 00034 00035 void callback(const test_roscpp::TestArrayConstPtr& msg) 00036 { 00037 } 00038 00039 int main(int argc, char **argv) 00040 { 00041 ros::init(argc, argv, "subscribe_unsubscribe_repeatedly"); 00042 ros::NodeHandle nh; 00043 ros::Duration sleep_time(0, 100000000); 00044 while(ros::ok()) 00045 { 00046 sleep_time.sleep(); 00047 ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 1, callback); 00048 sleep_time.sleep(); 00049 } 00050 00051 return 0; 00052 }