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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 #define USAGE "USAGE: publish_n_fast <count> <min_size> <max_size>"
00045
00046 void connectCallback(const ros::SingleSubscriberPublisher &pub, int msg_count, int min_size, int max_size)
00047 {
00048 test_roscpp::TestArray msg;
00049 for(int i = 0; i < msg_count; i++)
00050 {
00051 msg.counter = i;
00052 int j = min_size + (int) ((max_size - min_size) * (rand() / (RAND_MAX + 1.0)));
00053 msg.float_arr.resize(j);
00054 ROS_INFO("published message %d (%d bytes)\n",
00055 msg.counter, ros::serialization::Serializer<test_roscpp::TestArray>::serializedLength(msg));
00056 pub.publish(msg);
00057 }
00058 }
00059
00060 int
00061 main(int argc, char** argv)
00062 {
00063 ros::init(argc, argv, "publish_n_fast");
00064 ros::NodeHandle n;
00065
00066 if(argc != 4)
00067 {
00068 puts(USAGE);
00069 exit(-1);
00070 }
00071
00072 int msg_count = atoi(argv[1]);
00073 int min_size = atoi(argv[2]);
00074 int max_size = atoi(argv[3]);
00075
00076 ros::Publisher pub_ = n.advertise<test_roscpp::TestArray>("roscpp/pubsub_test", msg_count, boost::bind(&connectCallback, _1, msg_count, min_size, max_size));
00077 ros::spin();
00078
00079 return 0;
00080 }