subscribe_unsubscribe_repeatedly.cpp

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// The roscpp_demo package has a few demos of the roscpp c++ client library 
//
// Copyright (C) 2008, Morgan Quigley
//
// Redistribution and use in source and binary forms, with or without 
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice, 
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright 
//     notice, this list of conditions and the following disclaimer in the 
//     documentation and/or other materials provided with the distribution.
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//     contributors may be used to endorse or promote products derived from 
//     this software without specific prior written permission.
//   
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
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#include <time.h>

#include "ros/ros.h"
#include <test_roscpp/TestArray.h>

void callback(const test_roscpp::TestArrayConstPtr& msg)
{
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "subscribe_unsubscribe_repeatedly");
  ros::NodeHandle nh;
  ros::Duration sleep_time(0, 100000000);
  while(ros::ok())
  {
    sleep_time.sleep();
    ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 1, callback);
    sleep_time.sleep();
  }
  
  return 0;
}