ign_publisher.cpp

Go to the documentation of this file.

/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#include <atomic>
#include <chrono>
#include <csignal>
#include <iostream>
#include <thread>
#include <ignition/msgs.hh>
#include <ignition/transport.hh>
#include "../test_utils.h"
 
static std::atomic<bool> g_terminatePub(false);
 
void signal_handler(int _signal)
{
  if (_signal == SIGINT || _signal == SIGTERM)
    g_terminatePub = true;
}
 
int main(int /*argc*/, char **/*argv*/)
{
  // Install a signal handler for SIGINT and SIGTERM.
  std::signal(SIGINT,  signal_handler);
  std::signal(SIGTERM, signal_handler);
 
  // Create a transport node and advertise a topic.
  ignition::transport::Node node;
 
  // ignition::msgs::Image.
  auto image_pub = node.Advertise<ignition::msgs::Image>("image");
  ignition::msgs::Image image_msg;
  ros_ign_image::testing::createTestMsg(image_msg);
 
  // Publish messages at 1Hz.
  while (!g_terminatePub)
  {
    image_pub.Publish(image_msg);
 
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
  }
 
  return 0;
}