publish_constantly.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       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 name of 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
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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/* Author: Brian Gerkey */

#include <time.h>

#include "ros/ros.h"
#include "test_roscpp/TestArray.h"

int main(int argc, char **argv)
{
  ros::init(argc, argv, "publish_constantly");
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<test_roscpp::TestArray>("test_roscpp/pubsub_test", 100);

  test_roscpp::TestArray msg;
  msg.float_arr.resize(100);

  ros::WallDuration d(0.01);
  while(ros::ok())
  {
    d.sleep();
    pub.publish(msg);
  }

  return 0;
}