babbler.cpp
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1 /*
2  * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
3  *
4  * Redistribution and use in source and binary forms, with or without
5  * modification, are permitted provided that the following conditions are met:
6  * * Redistributions of source code must retain the above copyright notice,
7  * this list of conditions and the following disclaimer.
8  * * Redistributions in binary form must reproduce the above copyright
9  * notice, this list of conditions and the following disclaimer in the
10  * documentation and/or other materials provided with the distribution.
11  * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
12  * contributors may be used to endorse or promote products derived from
13  * this software without specific prior written permission.
14  *
15  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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20  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
21  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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23  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
24  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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26  */
27 
28 #include "ros/ros.h"
29 #include "std_msgs/String.h"
30 
31 #include <sstream>
32 
37 int main(int argc, char **argv)
38 {
49  ros::init(argc, argv, "babbler");
50 
57 
75  ros::Publisher pub = n.advertise<std_msgs::String>("babble", 1000);
76 
81  int count = 0;
82  ros::Rate r(10);
83  while (n.ok())
84  {
88  std_msgs::String msg;
89 
90  std::stringstream ss;
91  ss << "hello world " << count;
92  ROS_INFO("%s", ss.str().c_str());
93  msg.data = ss.str();
94 
101  pub.publish(msg);
102  ++count;
103 
104  ros::spinOnce();
105  r.sleep();
106  }
107 
108 
109  return 0;
110 }
111 
void publish(const boost::shared_ptr< M > &message) const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
#define ROS_INFO(...)
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
bool sleep()
int main(int argc, char **argv)
Definition: babbler.cpp:37
bool ok() const
ROSCPP_DECL void spinOnce()


roscpp_tutorials
Author(s): Morgan Quigley
autogenerated on Fri Jun 7 2019 22:01:43