testdrive.cpp
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00001 
00026 // testdrive.cpp : An example of how to use rosserial in Windows
00027 //
00028 
00029 #include "stdafx.h"
00030 #include <string>
00031 #include <stdio.h>
00032 #include "ros.h"
00033 #include <geometry_msgs/Twist.h>
00034 #include <windows.h>
00035 
00036 using std::string;
00037 
00038 int main (int argc, char *argv[])
00039 {
00040   ros::NodeHandle nh;
00041   if (argc != 2)
00042   {
00043     printf ("Usage: testdrive host[:port]\n");
00044     return 0;
00045   }
00046 
00047   printf ("Connecting to server at %s\n", argv[1]);
00048   nh.initNode (argv[1]);
00049 
00050   printf ("Advertising cmd_vel message\n");
00051   geometry_msgs::Twist twist_msg;
00052   ros::Publisher cmd_vel_pub ("cmd_vel", &twist_msg);
00053   nh.advertise (cmd_vel_pub);
00054 
00055   printf ("Go robot go!\n");
00056   while (1)
00057   {
00058     twist_msg.linear.x = 5.1;
00059     twist_msg.linear.y = 0;
00060     twist_msg.linear.z = 0;
00061     twist_msg.angular.x = 0;
00062     twist_msg.angular.y = 0;
00063     twist_msg.angular.z = -1.8;
00064     cmd_vel_pub.publish (&twist_msg);
00065 
00066     nh.spinOnce ();
00067     Sleep (100);
00068   }
00069   return 0;
00070 }


rosserial_windows
Author(s): Kareem Shehata
autogenerated on Sat Oct 7 2017 03:09:01