testnc.cpp

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#include "testnc/testnc.h"

// Register the application
PLUGINLIB_EXPORT_CLASS(testnc::TestNC, micros_swarm::Application)

namespace testnc{

    TestNC::TestNC() {}
    
    TestNC::~TestNC() {}

    void TestNC::init() {}

    void TestNC::stop() {}
    
    void TestNC::callback(const std_msgs::Float32& value)
    {
        //ROS_INFO("I received the value: %f.", value);
    }
    
    void TestNC::start()
    {
        std::cout<<"TestNC step into start..."<<std::endl;
        micros_swarm::Broadcaster<std_msgs::Float32> bc("testkey");
        boost::function<void(const std_msgs::Float32&)> cb=boost::bind(&TestNC::callback, this, _1);
        micros_swarm::Listener<std_msgs::Float32> ls("testkey", cb);
        //ls.ignore();
        
        for(int i = 0; i < 10; i++) {
            std_msgs::Float32 val;
            val.data = 3.141;
            bc.broadcast(val);
            ros::Duration(1).sleep();
        }
    }
};