publisher.cpp

Go to the documentation of this file.

#include <ros/ros.h>
#include <ros/console.h>

#include <std_msgs/String.h>
#include <message_transport/message_transport.h>

class StringPublisher {
        protected:

                ros::NodeHandle n_;
                message_transport::MessageTransport<std_msgs::String> it_;
                message_transport::Publisher strmsg_pub_;
                std_msgs::String text;


        public:

                StringPublisher(ros::NodeHandle &n) : n_(n), 
                        it_(n_,"string_transport","std_msgs::String") {
                        strmsg_pub_ = it_.advertise("str_source",1);

                }

                ~StringPublisher()
                {
                }

                int mainloop()
                {

            ROS_INFO("Entering main loop");
                        ros::Rate loop_rate(3);
                        while (ros::ok())
                        {
                text.data = "Hello";
                ROS_INFO("Publishing '%s'",text.data.c_str());
                                strmsg_pub_.publish(text);
                                ros::spinOnce();
                                loop_rate.sleep();
                        }

                        return 0;
                }

};

void setDebugLevel(const std::string & logname) {
    log4cxx::LoggerPtr logger = log4cxx::Logger::getLogger(logname);
    logger->setLevel(log4cxx::Level::getDebug());
    ros::console::notifyLoggerLevelsChanged();
}

int main(int argc, char** argv)
{
        ros::init(argc, argv, "test_publisher");
        ros::NodeHandle n;
        StringPublisher ic(n);
        ic.mainloop();
        return 0;
}