Go to the documentation of this file.00001 #include "ros/ros.h"
00002 #include <geometry_msgs/Pose.h>
00003 #include <geometry_msgs/PoseStamped.h>
00004 #include <unistd.h>
00005
00006 int main(int argc, char **argv)
00007 {
00008 ros::init(argc, argv, "goal_pub");
00009 ros::NodeHandle n;
00010
00011 if (argc != 3){
00012 ROS_INFO("USAGE: goal_pub [x] [y]");
00013 return 0;
00014 }
00015
00016 ros::Publisher goal_pub = n.advertise<geometry_msgs::PoseStamped>("goal", 1000);
00017
00018 geometry_msgs::PoseStamped goal_msg;
00019 goal_msg.pose.position.x = atof(argv[1]);
00020 goal_msg.pose.position.y = atof(argv[2]);
00021
00022
00023 ros::Rate loop_rate(100);
00024
00025
00026 while(goal_pub.getNumSubscribers() == 0){
00027 loop_rate.sleep();
00028 }
00029
00030 ros::Duration(5.0).sleep();
00031
00032 goal_pub.publish(goal_msg);
00033
00034
00035 return 0;
00036 }