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Introducing a pubish and subscribe example sim. The publisher includes a ROS msg file that is processed by ROS into a header file. refs #190
35 lines
727 B
C++
35 lines
727 B
C++
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#include "std_msgs/String.h"
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#include "trick/exec_proto.h"
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#include "ros_publish.hh"
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#include "Num.h"
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RosPublish::RosPublish() : count(0) {}
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int RosPublish::init() {
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msg_pub = n.advertise<trick_msgs::Num>("num_chatter", 1000) ;
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return 0 ;
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}
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int RosPublish::publish() {
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if ( ros::ok() ) {
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trick_msgs::Num tn ;
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tn.first_name = "Hakeem" ;
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tn.last_name = "Olajuwon" ;
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tn.date = "March 29, 1990" ;
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tn.points = 18 ;
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tn.rebounds = 16 ;
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tn.blocks = 11 ;
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tn.assists = 10 ;
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std::cout << tn << std::endl ;
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msg_pub.publish(tn) ;
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ros::spinOnce() ;
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} else {
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exec_terminate(__FILE__, "ros not ok") ;
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}
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return 0 ;
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}
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