talker.cpp

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/*****************************************************************************
** Includes
*****************************************************************************/

#include <ros/ros.h>
#include <string>
#include "talker.hpp"
#include <std_msgs/String.h>
#include <sstream>

/*****************************************************************************
** Implementation
*****************************************************************************/

Talker::Talker(int argc, char** argv ) :
        QNode(argc,argv,"qtalker")
        {}

void Talker::ros_comms_init() {
    ros::NodeHandle n;
    chatter_publisher = n.advertise<std_msgs::String>("chatter", 1000);
}

void Talker::run() {
        ros::Rate loop_rate(1);
        int count = 0;
        while ( ros::ok() ) {
            std_msgs::String msg;
            std::stringstream ss;
                ss << "hello world " << count;
                msg.data = ss.str();
                ROS_INFO("%s", msg.data.c_str());

                this->logging.insertRows(0,1);
                std::stringstream logging_msg;
                logging_msg << "[ INFO] [" << ros::Time::now() << "]: " << msg.data;
                QVariant new_row(QString(logging_msg.str().c_str()));
                logging.setData(logging.index(0),new_row);

                chatter_publisher.publish(msg);
                ros::spinOnce();
                loop_rate.sleep();
                ++count;
        }
    std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
    Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}