ping_server.cpp
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00001 /*
00002  * Copyright (c) 2009, 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 the 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 #include <ros/ros.h>
00030 #include <ping/Ping.h>
00031 #include <ping/Pong.h>
00032 
00033 namespace ping {
00034 
00035 class PingServer {
00036 public:
00037   PingServer(ros::NodeHandle& node);
00038   void pingCallback(const PingConstPtr& ping_msg_ptr);
00039 private:
00040   ros::NodeHandle node_;
00041   ros::Publisher pub_;
00042   ros::Subscriber sub_;
00043 };
00044 
00045 PingServer::PingServer(ros::NodeHandle& node)
00046 : node_(node)
00047 {
00048   sub_ = node_.subscribe<Ping>("/ping", 100, &PingServer::pingCallback, this);
00049   pub_ = node_.advertise<Pong>("/pong", 1, true);
00050 }
00051 
00052 void PingServer::pingCallback(const PingConstPtr& ping_msg_ptr)
00053 {
00054   Pong pong_msg;
00055   pong_msg.stamp = ping_msg_ptr->stamp;
00056   pong_msg.hash = ping_msg_ptr->hash;
00057   pub_.publish(pong_msg);
00058 }
00059 
00060 }
00061 
00062 int main(int argc, char** argv)
00063 {
00064   ros::init(argc, argv, "ping_server");
00065   ros::NodeHandle nh;
00066   ping::PingServer server(nh);
00067   ros::spin();
00068   return 0;
00069 }


ping
Author(s): Benjamin Pitzer
autogenerated on Sat Sep 27 2014 11:53:31