publisher.cpp
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00001 //=================================================================================================
00002 // Copyright (c) 2013, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 
00030 #include <ros/ros.h>
00031 #include <blob/Blob.h>
00032 
00033 #include <sensor_msgs/Imu.h>
00034 
00035 ros::Publisher pub;
00036 
00037 void publish(const ros::TimerEvent& event)
00038 {
00039 #ifdef SENSOR_MSGS_MESSAGE_IMU_H
00040   sensor_msgs::Imu message;
00041   blob::BlobPtr blob(new blob::Blob());
00042   blob->serialize(message);
00043 #else
00044   const char buffer[] = "This is a test blob on the stack.\nThis is a test blob on the stack.\nThis is a test blob on the stack.\nThis is a test blob on the stack.\nThis is a test blob on the stack.\n";
00045   blob::BlobPtr blob(new blob::Blob(buffer, sizeof(buffer), true));
00046 #endif
00047 
00048   blob->setCompressed(true);
00049 
00050   ROS_INFO("Publishing a blob of size %u at address %p", blob->size(), blob->data());
00051   pub.publish(blob);
00052   ROS_INFO("Destroying blob at address %p", blob->data());
00053 }
00054 
00055 int main(int argc, char **argv)
00056 {
00057   ros::init(argc, argv, "blob_test_publisher");
00058   ros::NodeHandle nh;
00059   pub = nh.advertise<blob::Blob>("blob", 10);
00060   ros::Timer timer = nh.createTimer(ros::Duration(1.0), &publish);
00061   ros::spin();
00062   return 0;
00063 }
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blob_test
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autogenerated on Thu Jun 27 2013 15:47:07