test_rosjava_jni: Talker.java Source 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 }