test_nodelet.cpp
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00001 // *****************************************************************************
00002 //
00003 // Copyright (c) 2016, Southwest Research Institute® (SwRI®)
00004 // All rights reserved.
00005 //
00006 // Redistribution and use in source and binary forms, with or without
00007 // modification, are permitted provided that the following conditions are met:
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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 Southwest Research Institute® (SwRI®) nor the
00014 //       names of its contributors may be used to endorse or promote products
00015 //       derived from this software without specific prior written permission.
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00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00030 #include <nodelet/nodelet.h>
00031 #include <ros/ros.h>
00032 #include <std_msgs/Int32.h>
00033 
00034 namespace swri_nodelet
00035 {
00036   class TestNodelet : public nodelet::Nodelet
00037   {
00038     public:
00039       virtual void onInit()
00040       {
00041         publisher_ = getNodeHandle().advertise<std_msgs::Int32>("numbers", 2);
00042         timer_ = getNodeHandle().createTimer(ros::Duration(0.1), &TestNodelet::timerCallback, this);
00043       }
00044     private:
00045       ros::Publisher publisher_;
00046       ros::Timer timer_;
00047       
00048       void timerCallback(ros::TimerEvent const& e)
00049       {
00050         std_msgs::Int32 msg;
00051         msg.data = 1337;
00052         publisher_.publish(msg);
00053       }
00054   };
00055 }
00056 
00057 #include <swri_nodelet/class_list_macros.h>
00058 SWRI_NODELET_EXPORT_CLASS(swri_nodelet, TestNodelet);


swri_nodelet
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autogenerated on Tue Oct 3 2017 03:19:22