test_nodelet.cpp

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#include <nodelet/nodelet.h>
#include <ros/ros.h>
#include <std_msgs/Int32.h>
 
namespace swri_nodelet
{
  class TestNodelet : public nodelet::Nodelet
  {
    public:
      virtual void onInit()
      {
        publisher_ = getNodeHandle().advertise<std_msgs::Int32>("numbers", 2);
        timer_ = getNodeHandle().createTimer(ros::Duration(0.1), &TestNodelet::timerCallback, this);
      }
    private:
      ros::Publisher publisher_;
      ros::Timer timer_;
      
      void timerCallback(ros::TimerEvent const& e)
      {
        std_msgs::Int32 msg;
        msg.data = 1337;
        publisher_.publish(msg);
      }
  };
}
 
#include <swri_nodelet/class_list_macros.h>
SWRI_NODELET_EXPORT_CLASS(swri_nodelet, TestNodelet);