left_right.cpp
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00001 /*
00002  * Copyright (c) 2011, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* Author: Troy Straszheim */
00031 
00032 /*
00033  * Basic publisher of two messages.
00034  */
00035 
00036 #include <string>
00037 #include <sstream>
00038 #include <fstream>
00039 
00040 #include <time.h>
00041 #include <stdlib.h>
00042 
00043 #include "ros/ros.h"
00044 #include "std_msgs/String.h"
00045 
00046 int
00047 main(int argc, char** argv)
00048 {
00049   ros::init( argc, argv, "left_right");
00050   ros::NodeHandle nh;
00051 
00052   ros::Publisher left = nh.advertise<std_msgs::String>("left", 0);
00053   ros::Publisher right = nh.advertise<std_msgs::String>("right", 0);
00054 
00055   std_msgs::String msg_l, msg_r;
00056   msg_l.data = "left";
00057   msg_r.data = "right";
00058   
00059   ros::Rate loop_rate(2);
00060 
00061   for (unsigned j=0; j<5; ++j)
00062     {
00063       assert(ros::ok());
00064 
00065       left.publish(msg_l);
00066       right.publish(msg_r);
00067 
00068       ROS_INFO("ping!");
00069 
00070       ros::spinOnce();
00071       loop_rate.sleep();
00072       ros::spinOnce();
00073     }
00074 
00075 
00076   return 0;
00077 }


test_roscpp
Author(s): Morgan Quigley mquigley@cs.stanford.edu, Ken Conley kwc@willowgarage.com
autogenerated on Sat Dec 28 2013 17:36:21