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 // %Tag(FULLTEXT)%
00028 // %Tag(ROS_HEADER)%
00029 #include "ros/ros.h"
00030 // %EndTag(ROS_HEADER)%
00031 // %Tag(MSG_HEADER)%
00032 #include "std_msgs/String.h"
00033 // %EndTag(MSG_HEADER)%
00034 
00035 #include <sstream>
00036 
00040 int main(int argc, char **argv)
00041 {
00052 // %Tag(INIT)%
00053   ros::init(argc, argv, "talker");
00054 // %EndTag(INIT)%
00055 
00061 // %Tag(NODEHANDLE)%
00062   ros::NodeHandle n;
00063 // %EndTag(NODEHANDLE)%
00064 
00082 // %Tag(PUBLISHER)%
00083   ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
00084 // %EndTag(PUBLISHER)%
00085 
00086 // %Tag(LOOP_RATE)%
00087   ros::Rate loop_rate(10);
00088 // %EndTag(LOOP_RATE)%
00089 
00094 // %Tag(ROS_OK)%
00095   int count = 0;
00096   while (ros::ok())
00097   {
00098 // %EndTag(ROS_OK)%
00102 // %Tag(FILL_MESSAGE)%
00103     std_msgs::String msg;
00104 
00105     std::stringstream ss;
00106     ss << "hello world " << count;
00107     msg.data = ss.str();
00108 // %EndTag(FILL_MESSAGE)%
00109 
00110 // %Tag(ROSCONSOLE)%
00111     ROS_INFO("%s", msg.data.c_str());
00112 // %EndTag(ROSCONSOLE)%
00113 
00120 // %Tag(PUBLISH)%
00121     chatter_pub.publish(msg);
00122 // %EndTag(PUBLISH)%
00123 
00124 // %Tag(SPINONCE)%
00125     ros::spinOnce();
00126 // %EndTag(SPINONCE)%
00127 
00128 // %Tag(RATE_SLEEP)%
00129     loop_rate.sleep();
00130 // %EndTag(RATE_SLEEP)%
00131     ++count;
00132   }
00133 
00134 
00135   return 0;
00136 }
00137 // %EndTag(FULLTEXT)%


roscpp_tutorials
Author(s): Morgan Quigley
autogenerated on Sun Mar 20 2016 04:51:17