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/**
* @file publisher_example.cpp
* Example subscriber for ros and px4
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "publisher_example.h"
using namespace px4;
PublisherExample::PublisherExample() :
_n(),
_rc_channels_pub(PX4_ADVERTISE(_n, rc_channels))
{
}
int PublisherExample::main()
{
px4::Rate loop_rate(10);
while (px4::ok()) {
PX4_TOPIC_T(rc_channels) msg;
msg.timestamp_last_valid = px4::get_time_micros();
PX4_INFO("%llu", msg.timestamp_last_valid);
_rc_channels_pub->publish(msg);
_n.spinOnce();
loop_rate.sleep();
}
return 0;
}