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main.go
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main.go
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package main
import (
"log"
"os"
"os/signal"
"time"
"github.com/bluenviron/goroslib/v2"
"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
)
func main() {
// create a node and connect to the master
n, err := goroslib.NewNode(goroslib.NodeConf{
Name: "goroslib_pub",
MasterAddress: "127.0.0.1:11311",
})
if err != nil {
panic(err)
}
defer n.Close()
// create a publisher
pub, err := goroslib.NewPublisher(goroslib.PublisherConf{
Node: n,
Topic: "test_topic",
Msg: &sensor_msgs.Imu{},
})
if err != nil {
panic(err)
}
defer pub.Close()
r := n.TimeRate(1 * time.Second)
c := make(chan os.Signal, 1)
signal.Notify(c, os.Interrupt)
for {
select {
// publish a message every second
case <-r.SleepChan():
msg := &sensor_msgs.Imu{
AngularVelocity: geometry_msgs.Vector3{
X: 23.5,
Y: 22.1,
Z: -7.5,
},
}
log.Printf("Outgoing: %+v\n", msg)
pub.Write(msg)
// handle CTRL-C
case <-c:
return
}
}
}