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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-11-05 15:03:00 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-11-05 15:03:00 +0100 |
commit | 1e9f431cf1d93b64f26fb9c3e42329e7237bad0e (patch) | |
tree | 03b911ae7cffc68c1bb7db939d26769e7b360cfb /src | |
parent | 53a40dc986bfd359dc193a9b48e4799033a321b1 (diff) | |
download | px4-firmware-1e9f431cf1d93b64f26fb9c3e42329e7237bad0e.tar.gz px4-firmware-1e9f431cf1d93b64f26fb9c3e42329e7237bad0e.tar.bz2 px4-firmware-1e9f431cf1d93b64f26fb9c3e42329e7237bad0e.zip |
ros example: send rc_channels message
Diffstat (limited to 'src')
-rw-r--r-- | src/examples/publisher/publisher.cpp | 16 | ||||
-rw-r--r-- | src/examples/subscriber/subscriber.cpp | 9 |
2 files changed, 13 insertions, 12 deletions
diff --git a/src/examples/publisher/publisher.cpp b/src/examples/publisher/publisher.cpp index cc88cd543..53fe2e905 100644 --- a/src/examples/publisher/publisher.cpp +++ b/src/examples/publisher/publisher.cpp @@ -33,6 +33,7 @@ // %EndTag(MSG_HEADER)% #include <sstream> +#include <px4/rc_channels.h> /** * This tutorial demonstrates simple sending of messages over the ROS system. @@ -80,7 +81,7 @@ int main(int argc, char **argv) * buffer up before throwing some away. */ // %Tag(PUBLISHER)% - ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000); + ros::Publisher rc_channels_pub = n.advertise<px4::rc_channels>("rc_channels", 1000); // %EndTag(PUBLISHER)% // %Tag(LOOP_RATE)% @@ -100,15 +101,14 @@ int main(int argc, char **argv) * This is a message object. You stuff it with data, and then publish it. */ // %Tag(FILL_MESSAGE)% - std_msgs::String msg; + px4::rc_channels msg; - std::stringstream ss; - ss << "hello world " << count; - msg.data = ss.str(); + ros::Time time = ros::Time::now(); + msg.timestamp_last_valid = time.sec * 1e6 + time.nsec; // %EndTag(FILL_MESSAGE)% // %Tag(ROSCONSOLE)% - px4_warnx("%s", msg.data.c_str()); + px4_warnx("%lu", msg.timestamp_last_valid); // %EndTag(ROSCONSOLE)% /** @@ -118,7 +118,7 @@ int main(int argc, char **argv) * in the constructor above. */ // %Tag(PUBLISH)% - chatter_pub.publish(msg); + rc_channels_pub.publish(msg); // %EndTag(PUBLISH)% // %Tag(SPINONCE)% @@ -134,4 +134,4 @@ int main(int argc, char **argv) return 0; } -// %EndTag(FULLTEXT)%
\ No newline at end of file +// %EndTag(FULLTEXT)% diff --git a/src/examples/subscriber/subscriber.cpp b/src/examples/subscriber/subscriber.cpp index e46055306..da69e6e25 100644 --- a/src/examples/subscriber/subscriber.cpp +++ b/src/examples/subscriber/subscriber.cpp @@ -28,14 +28,15 @@ // %Tag(FULLTEXT)% #include "ros/ros.h" #include "std_msgs/String.h" +#include "px4/rc_channels.h" /** * This tutorial demonstrates simple receipt of messages over the ROS system. */ // %Tag(CALLBACK)% -void chatterCallback(const std_msgs::String::ConstPtr& msg) +void rc_channels_callback(const px4::rc_channels::ConstPtr& msg) { - ROS_INFO("I heard: [%s]", msg->data.c_str()); + ROS_INFO("I heard: [%lu]", msg->timestamp_last_valid); } // %EndTag(CALLBACK)% @@ -76,7 +77,7 @@ int main(int argc, char **argv) * away the oldest ones. */ // %Tag(SUBSCRIBER)% - ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback); + ros::Subscriber sub = n.subscribe("rc_channels", 1000, rc_channels_callback); // %EndTag(SUBSCRIBER)% /** @@ -90,4 +91,4 @@ int main(int argc, char **argv) return 0; } -// %EndTag(FULLTEXT)%
\ No newline at end of file +// %EndTag(FULLTEXT)% |