setpoint_node.cpp

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/***************************************************************************/ 
#include "ros/ros.h"
#include "std_msgs/Float64.h"
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "setpoint_node");
  ROS_INFO("Starting setpoint publisher");
  ros::NodeHandle setpoint_node;
 
  while (ros::ok() && ros::Time(0) == ros::Time::now())
  {
    ROS_INFO("Setpoint_node spinning, waiting for time to become non-zero");
    sleep(1);
  }
 
  std_msgs::Float64 setpoint;
  setpoint.data = 1.0;
  ros::Publisher setpoint_pub = setpoint_node.advertise<std_msgs::Float64>("setpoint", 1);
 
  ros::Rate loop_rate(0.2);  // change setpoint every 5 seconds
 
  while (ros::ok())
  {
    ros::spinOnce();
 
    setpoint_pub.publish(setpoint);  // publish twice so graph gets it as a step
    setpoint.data = 0 - setpoint.data;
    setpoint_pub.publish(setpoint);
 
    loop_rate.sleep();
  }
}