00001 #ifndef TALKER_H 00002 #define TALKER_H 00003 00004 #include "ros/ros.h" 00005 00006 #include <QObject> 00007 #include <QString> 00008 00009 class Talker : public QObject { 00010 00011 Q_OBJECT 00012 00013 public: 00014 00015 Talker(ros::NodeHandle nh, const char* topic= "text_out"); 00016 void sendMessage(QString text); 00017 00018 protected: 00019 00020 ros::Publisher* m_Publisher; 00021 }; 00022 00023 #endif