Fawkes API  Fawkes Development Version
talkerpub_thread.cpp
1 
2 /***************************************************************************
3  * talkerpub_thread.cpp - Publish talker messages via ROS
4  *
5  * Created: Thu May 05 18:50:04 2011
6  * Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #include "talkerpub_thread.h"
24 
25 #include <ros/ros.h>
26 #include <std_msgs/String.h>
27 
28 using namespace fawkes;
29 
30 /** @class ROSTalkerPubThread "talkerpub_thread.h"
31  * Thread to publish messages via ROS.
32  *
33  * @author Tim Niemueller
34  */
35 
36 /** Constructor. */
38  : Thread("ROSTalkerPubThread", Thread::OPMODE_WAITFORWAKEUP),
40 {
41 }
42 
43 
44 /** Destructor. */
46 {
47 }
48 
49 
50 void
52 {
53  __pub = rosnode->advertise<std_msgs::String>("/chatter", 10);
54 }
55 
56 
57 void
59 {
60  __pub.shutdown();
61 }
62 
63 
64 void
66 {
67  Time t;
68 
69  std_msgs::String msg;
70  msg.data = std::string("Hello world ") + t.str();
71 
72  __pub.publish(msg);
73 }
const char * str(bool utc=false) const
Output function.
Definition: time.cpp:872
virtual ~ROSTalkerPubThread()
Destructor.
ROSTalkerPubThread()
Constructor.
Fawkes library namespace.
virtual void finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
A class for handling time.
Definition: time.h:91
virtual void loop()
Code to execute in the thread.
Thread class encapsulation of pthreads.
Definition: thread.h:42
Thread aspect to use blocked timing.
LockPtr< ros::NodeHandle > rosnode
Central ROS node handle.
Definition: ros.h:48