testdrive.cpp

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// testdrive.cpp : An example of how to use rosserial in Windows
//

#include "stdafx.h"
#include <string>
#include <stdio.h>
#include "ros.h"
#include <geometry_msgs/Twist.h>
#include <windows.h>

using std::string;

int main (int argc, char *argv[])
{
  ros::NodeHandle nh;
  if (argc != 2)
  {
    printf ("Usage: testdrive host[:port]\n");
    return 0;
  }

  printf ("Connecting to server at %s\n", argv[1]);
  nh.initNode (argv[1]);

  printf ("Advertising cmd_vel message\n");
  geometry_msgs::Twist twist_msg;
  ros::Publisher cmd_vel_pub ("cmd_vel", &twist_msg);
  nh.advertise (cmd_vel_pub);

  printf ("Go robot go!\n");
  while (1)
  {
    twist_msg.linear.x = 5.1;
    twist_msg.linear.y = 0;
    twist_msg.linear.z = 0;
    twist_msg.angular.x = 0;
    twist_msg.angular.y = 0;
    twist_msg.angular.z = -1.8;
    cmd_vel_pub.publish (&twist_msg);

    nh.spinOnce ();
    Sleep (100);
  }
  return 0;
}