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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-18 18:43:45 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-21 14:26:22 +0100 |
| commit | 7c3223b8609ee418b520d19cae7e52d2a7a85e99 (patch) | |
| tree | be6f98c262b390494c06b26ee12a28400b3cc105 /src/examples/publisher | |
| parent | 81215746321756665dfee562615e353c003cedd9 (diff) | |
| download | px4-firmware-7c3223b8609ee418b520d19cae7e52d2a7a85e99.tar.gz px4-firmware-7c3223b8609ee418b520d19cae7e52d2a7a85e99.tar.bz2 px4-firmware-7c3223b8609ee418b520d19cae7e52d2a7a85e99.zip | |
added a messageplayer prototype for ros
Diffstat (limited to 'src/examples/publisher')
| -rw-r--r-- | src/examples/publisher/publisher_example.cpp | 19 | ||||
| -rw-r--r-- | src/examples/publisher/publisher_example.h | 1 |
2 files changed, 15 insertions, 5 deletions
diff --git a/src/examples/publisher/publisher_example.cpp b/src/examples/publisher/publisher_example.cpp index 2e5779ebe..e85e42b38 100644 --- a/src/examples/publisher/publisher_example.cpp +++ b/src/examples/publisher/publisher_example.cpp @@ -45,7 +45,8 @@ using namespace px4; PublisherExample::PublisherExample() : _n(), - _rc_channels_pub(PX4_ADVERTISE(_n, rc_channels)) + _rc_channels_pub(_n.advertise<px4_rc_channels>()) + // _rc_channels_pub(PX4_ADVERTISE(_n, rc_channels)) { } @@ -55,11 +56,19 @@ 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); + // 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); + + //XXX + px4_rc_channels msg2; + msg2.data().timestamp_last_valid = px4::get_time_micros(); + PX4_INFO("%llu", msg2.data().timestamp_last_valid); + // msg2.pub->publish2(); + _rc_channels_pub->publish(msg2); - _rc_channels_pub->publish(msg); _n.spinOnce(); loop_rate.sleep(); diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h index 304ecef47..86586d0d3 100644 --- a/src/examples/publisher/publisher_example.h +++ b/src/examples/publisher/publisher_example.h @@ -48,5 +48,6 @@ public: int main(); protected: px4::NodeHandle _n; + // px4::Publisher<px4::px4_rc_channels> * _rc_channels_pub; px4::Publisher * _rc_channels_pub; }; |