publish_empty.cpp
Go to the documentation of this file.
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 an empty 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/TestEmpty.h>
00043 
00044 int32_t g_msg_count = 0;
00045 void subscriberCallback(const ros::SingleSubscriberPublisher&, ros::Publisher& pub)
00046 {
00047   test_roscpp::TestEmpty msg;
00048   for(int i = 0; i < g_msg_count; i++)
00049   {
00050     pub.publish(msg);
00051     ROS_INFO("published message %d", i);
00052   }
00053 }
00054 
00055 #define USAGE "USAGE: publish_empty <count>"
00056 
00057 int main(int argc, char** argv)
00058 {
00059   ros::init(argc, argv, "publish_onsub");
00060 
00061   if(argc != 2)
00062   {
00063     puts(USAGE);
00064     exit(-1);
00065   }
00066 
00067   g_msg_count = atoi(argv[1]);
00068 
00069   ros::NodeHandle nh;
00070   ros::Publisher pub;
00071   pub = nh.advertise<test_roscpp::TestEmpty>("roscpp/pubsub_test", g_msg_count, boost::bind(subscriberCallback, _1, boost::ref(pub)));
00072 
00073   ros::spin();
00074 }


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 03:45:23