test_publisher_node.cpp
95d4e79e52abmaster

test_publisher_node.cpp
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			#include "ros/ros.h"
			#include "std_msgs/String.h"

			#include <sstream>

			/**
			* This tutorial demonstrates simple sending of messages over the ROS system.
			*/
			int main(int argc, char **argv)
			{
			/**
			* The ros::init() function needs to see argc and argv so that it can perform
			* any ROS arguments and name remapping that were provided at the command line.
			* For programmatic remappings you can use a different version of init() which takes
			* remappings directly, but for most command-line programs, passing argc and argv is
			* the easiest way to do it. The third argument to init() is the name of the node.
			*
			* You must call one of the versions of ros::init() before using any other
			* part of the ROS system.
			*/
			ros::init(argc, argv, "test_publisher");

			/**
			* NodeHandle is the main access point to communications with the ROS system.
			* The first NodeHandle constructed will fully initialize this node, and the last
			* NodeHandle destructed will close down the node.
			*/
			ros::NodeHandle n;


			ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);

			ros::Rate loop_rate(10);

			/**
			* A count of how many messages we have sent. This is used to create
			* a unique string for each message.
			*/
			int count = 0;
			while (ros::ok())
			{
			/**
			* This is a message object. You stuff it with data, and then publish it.
			*/
			std_msgs::String msg;

			std::stringstream ss;
			ss << "PING " << count;
			msg.data = ss.str();

			ROS_INFO("%s", msg.data.c_str());

			chatter_pub.publish(msg);

			ros::spinOnce();

			loop_rate.sleep();
			++count;
			}


			return 0;
			}