Go to the documentation of this file.00001 import ros.*;
00002 import ros.communication.*;
00003
00004 public class Talker {
00005 public static void main(String args[])
00006 throws InterruptedException, RosException {
00007 Ros ros = Ros.getInstance();
00008 ros.init("Talker");
00009
00010 ros.pkg.std_msgs.msg.String msg = new ros.pkg.std_msgs.msg.String();
00011
00012 NodeHandle n = ros.createNodeHandle();
00013 Publisher<ros.pkg.std_msgs.msg.String> pub =
00014 n.advertise("chatter", msg, 100);
00015
00016 int count = 0;
00017 while(pub.isValid()) {
00018 msg.data = "Hello there! This is message [" + count + "]";
00019 pub.publish(msg);
00020 ros.logInfo("I published [" + msg.data + "]");
00021 n.spinOnce();
00022 Thread.sleep(200);
00023 count++;
00024 }
00025 }
00026 }