talker.cpp

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/*
 * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
// %Tag(FULLTEXT)%
// %Tag(ROS_HEADER)%
#include "ros/ros.h"
// %EndTag(ROS_HEADER)%
// %Tag(MSG_HEADER)%
#include "std_msgs/String.h"
// %EndTag(MSG_HEADER)%
 
#include <sstream>
 
int main(int argc, char **argv)
{
// %Tag(INIT)%
  ros::init(argc, argv, "talker");
// %EndTag(INIT)%
 
// %Tag(NODEHANDLE)%
  ros::NodeHandle n;
// %EndTag(NODEHANDLE)%
 
// %Tag(PUBLISHER)%
  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
// %EndTag(PUBLISHER)%
 
// %Tag(LOOP_RATE)%
  ros::Rate loop_rate(10);
// %EndTag(LOOP_RATE)%
 
// %Tag(ROS_OK)%
  int count = 0;
  while (ros::ok())
  {
// %EndTag(ROS_OK)%
// %Tag(FILL_MESSAGE)%
    std_msgs::String msg;
 
    std::stringstream ss;
    ss << "hello world " << count;
    msg.data = ss.str();
// %EndTag(FILL_MESSAGE)%
 
// %Tag(ROSCONSOLE)%
    ROS_INFO("%s", msg.data.c_str());
// %EndTag(ROSCONSOLE)%
 
// %Tag(PUBLISH)%
    chatter_pub.publish(msg);
// %EndTag(PUBLISH)%
 
// %Tag(SPINONCE)%
    ros::spinOnce();
// %EndTag(SPINONCE)%
 
// %Tag(RATE_SLEEP)%
    loop_rate.sleep();
// %EndTag(RATE_SLEEP)%
    ++count;
  }
 
 
  return 0;
}
// %EndTag(FULLTEXT)%