talker.cpp
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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 #include "ros/ros.h"
00028 #include "std_msgs/String.h"
00029 
00030 #include <sstream>
00031 
00035 int main(int argc, char **argv)
00036 {
00047   ros::init(argc, argv, "talker");
00048 
00054   ros::NodeHandle n;
00055 
00073   ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
00074 
00075   ros::Rate loop_rate(10);
00076 
00081   int count = 0;
00082   while (ros::ok())
00083   {
00084 // %EndTag(ROS_OK)%
00088 // %Tag(FILL_MESSAGE)%
00089     std_msgs::String msg;
00090 
00091     std::stringstream ss;
00092     ss << "hello world " << count;
00093     msg.data = ss.str();
00094 
00095     ROS_INFO("%s", msg.data.c_str());
00096 
00103     chatter_pub.publish(msg);
00104 
00105     ros::spinOnce();
00106 
00107     loop_rate.sleep();
00108 
00109     ++count;
00110   }
00111 
00112 
00113   return 0;
00114 }
00115 // %EndTag(FULLTEXT)%
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agentsystem_examples
Author(s): k-okada
autogenerated on Thu Jun 27 2013 14:58:26