listener_async_spin.cpp File Reference

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <boost/thread.hpp>

Include dependency graph for listener_async_spin.cpp:

Go to the source code of this file.

Classes
class	Listener
Functions
void	chatter4 (const std_msgs::String::ConstPtr &msg)
int	main (int argc, char **argv)
Variables
ros::Duration	d (0.01)

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Function Documentation

void chatter4

(

const std_msgs::String::ConstPtr &

msg

)

Definition at line 60 of file listener_async_spin.cpp.

int main	(	int	argc,
		char **	argv
	)

The AsyncSpinner object allows you to specify a number of threads to use to call callbacks. If no explicit # is specified, it will use the # of hardware threads available on your system. Here we explicitly specify 4 threads.

Definition at line 66 of file listener_async_spin.cpp.

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Variable Documentation

ros::Duration d(0.01)

This tutorial demonstrates simple receipt of messages over the ROS system, using an asynchronous Spinner object to receive callbacks in multiple threads at the same time.