publish_onsub.cpp
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1 /*
2  * Copyright (c) 2008, Willow Garage, Inc.
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15  * this software without specific prior written permission.
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29 
30 /* Author: Brian Gerkey */
31 
32 /*
33  * Publish an empty message N times, back to back
34  */
35 
36 #include <string>
37 #include <cstdio>
38 #include <time.h>
39 #include <stdlib.h>
40 
41 #include "ros/ros.h"
42 #include <test_roscpp/TestEmpty.h>
43 
44 int32_t g_msg_count = 0;
46 {
47  test_roscpp::TestEmpty msg;
48  for(int i = 0; i < g_msg_count; i++)
49  {
50  pub.publish(msg);
51  ROS_INFO("published message %d", i);
52  }
53 }
54 
55 #define USAGE "USAGE: publish_empty <count>"
56 
57 int main(int argc, char** argv)
58 {
59  ros::init(argc, argv, "publish_onsub");
60 
61  if(argc != 2)
62  {
63  puts(USAGE);
64  exit(-1);
65  }
66 
67  g_msg_count = atoi(argv[1]);
68 
69  ros::NodeHandle nh;
70  ros::Publisher pub = nh.advertise<test_roscpp::TestEmpty>("roscpp/pubsub_test", g_msg_count, boost::bind(subscriberCallback, _1));
71 
72  ros::spin();
73 }
int32_t g_msg_count
void publish(const boost::shared_ptr< M const > &message) const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
#define ROS_INFO(...)
int main(int argc, char **argv)
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
ROSCPP_DECL void spin()
#define USAGE
void subscriberCallback(const ros::SingleSubscriberPublisher &pub)


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim, Dirk Thomas
autogenerated on Mon Nov 2 2020 03:52:46