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00001 /* 00002 * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc. 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions are met: 00006 * * Redistributions of source code must retain the above copyright notice, 00007 * this list of conditions and the following disclaimer. 00008 * * Redistributions in binary form must reproduce the above copyright 00009 * notice, this list of conditions and the following disclaimer in the 00010 * documentation and/or other materials provided with the distribution. 00011 * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its 00012 * contributors may be used to endorse or promote products derived from 00013 * this software without specific prior written permission. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #include "ros/ros.h" 00029 #include "std_msgs/String.h" 00030 00031 #include <boost/thread.hpp> 00032 00038 ros::Duration d(0.01); 00039 00040 class Listener 00041 { 00042 public: 00043 void chatter1(const std_msgs::String::ConstPtr& msg) 00044 { 00045 ROS_INFO_STREAM("chatter1: [" << msg->data << "] [thread=" << boost::this_thread::get_id() << "]"); 00046 d.sleep(); 00047 } 00048 void chatter2(const std_msgs::String::ConstPtr& msg) 00049 { 00050 ROS_INFO_STREAM("chatter2: [" << msg->data << "] [thread=" << boost::this_thread::get_id() << "]"); 00051 d.sleep(); 00052 } 00053 void chatter3(const std_msgs::String::ConstPtr& msg) 00054 { 00055 ROS_INFO_STREAM("chatter3: [" << msg->data << "] [thread=" << boost::this_thread::get_id() << "]"); 00056 d.sleep(); 00057 } 00058 }; 00059 00060 void chatter4(const std_msgs::String::ConstPtr& msg) 00061 { 00062 ROS_INFO_STREAM("chatter4: [" << msg->data << "] [thread=" << boost::this_thread::get_id() << "]"); 00063 d.sleep(); 00064 } 00065 00066 int main(int argc, char **argv) 00067 { 00068 ros::init(argc, argv, "listener"); 00069 ros::NodeHandle n; 00070 00071 Listener l; 00072 ros::Subscriber sub1 = n.subscribe("chatter", 10, &Listener::chatter1, &l); 00073 ros::Subscriber sub2 = n.subscribe("chatter", 10, &Listener::chatter2, &l); 00074 ros::Subscriber sub3 = n.subscribe("chatter", 10, &Listener::chatter3, &l); 00075 ros::Subscriber sub4 = n.subscribe("chatter", 10, chatter4); 00076 00082 ros::AsyncSpinner s(4); 00083 s.start(); 00084 00085 ros::Rate r(5); 00086 while (ros::ok()) 00087 { 00088 ROS_INFO_STREAM("Main thread [" << boost::this_thread::get_id() << "]."); 00089 r.sleep(); 00090 } 00091 00092 return 0; 00093 } 00094