publisher_for_star_subscriber.cpp
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00001 /*
00002  * Copyright (c) 2010, 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 /*
00031  * Author: Josh Faust
00032  */
00033 
00034 #include <ros/ros.h>
00035 #include <std_srvs/Empty.h>
00036 #include <test_roscpp/TestEmpty.h>
00037 #include <test_roscpp/TestArray.h>
00038 
00039 ros::Publisher g_pub;
00040 int8_t type = 0;
00041 
00042 bool switchPublisherType(std_srvs::EmptyRequest&, std_srvs::EmptyResponse&)
00043 {
00044   ros::NodeHandle nh;
00045   g_pub.shutdown();
00046   type = (type + 1) % 2;
00047   switch (type)
00048   {
00049   case 0:
00050     g_pub = nh.advertise<test_roscpp::TestEmpty>("test_star_inter", 0);
00051     break;
00052   case 1:
00053     g_pub = nh.advertise<test_roscpp::TestArray>("test_star_inter", 0);
00054     break;
00055   }
00056   return true;
00057 }
00058 
00059 void pubTimer(const ros::TimerEvent&)
00060 {
00061   g_pub.publish(test_roscpp::TestEmpty());
00062 }
00063 
00064 int main(int argc, char** argv)
00065 {
00066   ros::init(argc, argv, "publisher_for_star_subscriber");
00067   ros::NodeHandle nh;
00068 
00069   g_pub = nh.advertise<test_roscpp::TestEmpty>("test_star_inter", 0);
00070   ros::Timer t = nh.createTimer(ros::Duration(0.01), pubTimer);
00071   ros::ServiceServer s = nh.advertiseService("switch_publisher_type", switchPublisherType);
00072   ros::spin();
00073 }


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