publisher.cc
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010. David Feil-Seifer 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #include <ros/ros.h> 00036 #include <sensor_msgs/JointState.h> 00037 00038 int main( int argc, char* argv[] ) 00039 { 00040 ros::init(argc, argv, "p2os_publisher" ); 00041 ros::NodeHandle n; 00042 00043 ros::Publisher joint_state_publisher = n.advertise<sensor_msgs::JointState>("joint_states",1000); 00044 ros::Rate loop_rate(15); 00045 sensor_msgs::JointState js; 00046 00047 js.name.push_back(std::string("base_swivel_joint")); 00048 js.position.push_back(0); 00049 js.name.push_back(std::string("swivel_hubcap_joint")); 00050 js.position.push_back(0); 00051 js.name.push_back(std::string("base_left_wheel_joint")); 00052 js.position.push_back(0); 00053 js.name.push_back(std::string("base_right_wheel_joint")); 00054 js.position.push_back(0); 00055 00056 00057 00058 while( n.ok() ) 00059 { 00060 js.header.frame_id="/base_link"; 00061 js.header.stamp = ros::Time::now(); 00062 joint_state_publisher.publish(js); 00063 ros::spinOnce(); 00064 loop_rate.sleep(); 00065 } 00066 }