HelloROS.cpp

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/*
 * rosserial Publisher Example
 * Prints "hello ROS!"
 */

#include <ros.h>
#include <std_msgs/String.h>
#include <stdio.h>

ros::NodeHandle  nh;

std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);

char *rosSrvrIp = "192.168.15.121";
char hello[13] = "Hello ROS!";

int main()
{
        //nh.initNode();
        nh.initNode(rosSrvrIp);
        nh.advertise(chatter);
        while(1) {
                  str_msg.data = hello;
                  chatter.publish( &str_msg );
                  nh.spinOnce();
                  printf("chattered\n");
                  sleep(1);
        }
}