c 2b 2b ros publisher

1#include "ros/ros.h"
2#include "std_msgs/String.h"
3
4/**
5 * This tutorial demonstrates simple receipt of messages over the ROS system.
6 */
7void chatterCallback(const std_msgs::String::ConstPtr& msg)
8{
9  ROS_INFO("I heard: [%s]", msg->data.c_str());
10}
11
12int main(int argc, char **argv)
13{
14  ros::init(argc, argv, "listener");
15
16  ros::NodeHandle n;
17
18  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
19
20  ros::spin();
21
22  return 0;
23}

1#include "ros/ros.h"
2#include "std_msgs/String.h"
3
4#include <sstream>
5
6/**
7 * This tutorial demonstrates simple sending of messages over the ROS system.
8 */
9int main(int argc, char **argv)
10{
11  ros::init(argc, argv, "talker");
12
13  ros::NodeHandle n;
14
15  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
16
17  ros::Rate loop_rate(10);
18
19  int count = 0;
20  while (ros::ok())
21  {
22    std_msgs::String msg;
23
24    std::stringstream ss;
25    ss << "hello world " << count;
26    msg.data = ss.str();
27
28    ROS_INFO("%s", msg.data.c_str());
29
30    chatter_pub.publish(msg);
31
32    ros::spinOnce();
33
34    loop_rate.sleep();
35    ++count;
36  }
37
38  return 0;
39}
40