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// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// 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.
#ifndef COMPOSITION__TALKER_COMPONENT_HPP_
#define COMPOSITION__TALKER_COMPONENT_HPP_
#include "composition/visibility_control.h"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
namespace composition
{
class Talker : public rclcpp::Node
{
public:
COMPOSITION_PUBLIC
explicit Talker(const rclcpp::NodeOptions & options);
protected:
void on_timer();
private:
size_t count_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
rclcpp::TimerBase::SharedPtr timer_;
};
} // namespace composition
#endif // COMPOSITION__TALKER_COMPONENT_HPP_
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