Fawkes API  Fawkes Development Version
talkerpub_thread.cpp
00001 
00002 /***************************************************************************
00003  *  talkerpub_thread.cpp - Publish talker messages via ROS
00004  *
00005  *  Created: Thu May 05 18:50:04 2011
00006  *  Copyright  2006-2011  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #include "talkerpub_thread.h"
00024 
00025 #include <ros/ros.h>
00026 #include <std_msgs/String.h>
00027 
00028 using namespace fawkes;
00029 
00030 /** @class ROSTalkerPubThread "talkerpub_thread.h"
00031  * Thread to publish messages via ROS.
00032  *
00033  * @author Tim Niemueller
00034  */
00035 
00036 /** Constructor. */
00037 ROSTalkerPubThread::ROSTalkerPubThread()
00038   : Thread("ROSTalkerPubThread", Thread::OPMODE_WAITFORWAKEUP),
00039     BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_ACT)
00040 {
00041 }
00042 
00043 
00044 /** Destructor. */
00045 ROSTalkerPubThread::~ROSTalkerPubThread()
00046 {
00047 }
00048 
00049 
00050 void
00051 ROSTalkerPubThread::init()
00052 {
00053   __pub = rosnode->advertise<std_msgs::String>("/chatter", 10);
00054 }
00055 
00056 
00057 void
00058 ROSTalkerPubThread::finalize()
00059 {
00060   __pub.shutdown();
00061 }
00062 
00063 
00064 void
00065 ROSTalkerPubThread::loop()
00066 {
00067   Time t;
00068 
00069   std_msgs::String msg;
00070   msg.data = std::string("Hello world ") + t.str();
00071 
00072   __pub.publish(msg);
00073 }