pub_sub.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
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  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* Author: Brian Gerkey */
00031 
00032 /*
00033  * Publish a message N times, back to back
00034  */
00035 
00036 #include <string>
00037 #include <cstdio>
00038 #include <time.h>
00039 #include <stdlib.h>
00040 
00041 #include "ros/ros.h"
00042 #include <test_roscpp/TestArray.h>
00043 
00044 int32_t g_array_size = 1;
00045 
00046 void messageCallback(const test_roscpp::TestArrayConstPtr& msg, ros::Publisher pub)
00047 {
00048   test_roscpp::TestArray copy = *msg;
00049   copy.counter++;
00050 
00051   while (ros::ok() && pub.getNumSubscribers() == 0)
00052   {
00053     ros::Duration(0.01).sleep();
00054   }
00055 
00056   pub.publish(copy);
00057 }
00058 
00059 #define USAGE "USAGE: publish_n_fast <sz>"
00060 
00061 int main(int argc, char** argv)
00062 {
00063   ros::init(argc, argv, "pub_sub");
00064 
00065   if(argc != 2)
00066   {
00067     puts(USAGE);
00068     exit(-1);
00069   }
00070 
00071   g_array_size = atoi(argv[1]);
00072 
00073   ros::NodeHandle nh;
00074 
00075   ros::Publisher pub = nh.advertise<test_roscpp::TestArray>("roscpp/pubsub_test", 1);
00076   ros::Subscriber sub = nh.subscribe<test_roscpp::TestArray>("roscpp/subpub_test", 1, boost::bind(messageCallback, _1, pub));
00077 
00078   ros::spin();
00079 }


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Mon Oct 6 2014 11:47:21