publisher-message-example.js

// Copyright (c) 2017 Intel Corporation. All rights reserved.
//
// 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.

'use strict';

/* eslint-disable camelcase */

const rclnodejs = require('../index.js');

rclnodejs
  .init()
  .then(() => {
    const node = rclnodejs.createNode('publisher_message_example_node');
    const publisher = node.createPublisher(
      'sensor_msgs/msg/JointState',
      'JointState'
    );
    let count = 0;

    setInterval(function () {
      publisher.publish({
        header: {
          stamp: {
            sec: 123456,
            nanosec: 789,
          },
          frame_id: 'main frame',
        },
        name: ['Tom', 'Jerry'],
        position: [1, 2],
        velocity: [2, 3],
        effort: [4, 5, 6],
      });
      console.log(`Publish ${++count} messages.`);
    }, 1000);

    rclnodejs.spin(node);
  })
  .catch((e) => {
    console.log(e);
  });