-
Notifications
You must be signed in to change notification settings - Fork 300
/
publisher_node.cpp
41 lines (34 loc) · 1.33 KB
/
publisher_node.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
// 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.
#include <chrono>
#include "minimal_composition/publisher_node.hpp"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
using namespace std::chrono_literals;
PublisherNode::PublisherNode()
: Node("publisher_node"), count_(0)
{
publisher_ = create_publisher<std_msgs::msg::String>("topic");
timer_ = create_wall_timer(
500ms, std::bind(&PublisherNode::on_timer, this));
}
void PublisherNode::on_timer()
{
auto message = std_msgs::msg::String();
message.data = "Hello, world! " + std::to_string(count_++);
RCLCPP_INFO(this->get_logger(), "Publisher: '%s'", message.data.c_str());
publisher_->publish(message);
}
#include "class_loader/register_macro.hpp"
CLASS_LOADER_REGISTER_CLASS(PublisherNode, rclcpp::Node)