diff options
Diffstat (limited to 'src/examples/publisher/publisher.cpp')
-rw-r--r-- | src/examples/publisher/publisher.cpp | 138 |
1 files changed, 48 insertions, 90 deletions
diff --git a/src/examples/publisher/publisher.cpp b/src/examples/publisher/publisher.cpp index 53fe2e905..91e063162 100644 --- a/src/examples/publisher/publisher.cpp +++ b/src/examples/publisher/publisher.cpp @@ -26,112 +26,70 @@ */ #include <px4.h> - -// %EndTag(ROS_HEADER)% -// %Tag(MSG_HEADER)% -#include "std_msgs/String.h" -// %EndTag(MSG_HEADER)% +#include <px4/rc_channels.h> #include <sstream> -#include <px4/rc_channels.h> /** - * This tutorial demonstrates simple sending of messages over the ROS system. + * This tutorial demonstrates simple sending of messages over the PX4 middleware system. */ int main(int argc, char **argv) { - /** - * The ros::init() function needs to see argc and argv so that it can perform - * any ROS arguments and name remapping that were provided at the command line. For programmatic - * remappings you can use a different version of init() which takes remappings - * directly, but for most command-line programs, passing argc and argv is the easiest - * way to do it. The third argument to init() is the name of the node. - * - * You must call one of the versions of ros::init() before using any other - * part of the ROS system. - */ -// %Tag(INIT)% - ros::init(argc, argv, "px4_publisher"); -// %EndTag(INIT)% - /** - * NodeHandle is the main access point to communications with the ROS system. - * The first NodeHandle constructed will fully initialize this node, and the last - * NodeHandle destructed will close down the node. - */ -// %Tag(NODEHANDLE)% - ros::NodeHandle n; -// %EndTag(NODEHANDLE)% + px4::init(argc, argv, "px4_publisher"); + + ros::NodeHandle n; - /** - * The advertise() function is how you tell ROS that you want to - * publish on a given topic name. This invokes a call to the ROS - * master node, which keeps a registry of who is publishing and who - * is subscribing. After this advertise() call is made, the master - * node will notify anyone who is trying to subscribe to this topic name, - * and they will in turn negotiate a peer-to-peer connection with this - * node. advertise() returns a Publisher object which allows you to - * publish messages on that topic through a call to publish(). Once - * all copies of the returned Publisher object are destroyed, the topic - * will be automatically unadvertised. - * - * The second parameter to advertise() is the size of the message queue - * used for publishing messages. If messages are published more quickly - * than we can send them, the number here specifies how many messages to - * buffer up before throwing some away. - */ -// %Tag(PUBLISHER)% - ros::Publisher rc_channels_pub = n.advertise<px4::rc_channels>("rc_channels", 1000); -// %EndTag(PUBLISHER)% + /** + * The advertise() function is how you tell ROS that you want to + * publish on a given topic name. This invokes a call to the ROS + * master node, which keeps a registry of who is publishing and who + * is subscribing. After this advertise() call is made, the master + * node will notify anyone who is trying to subscribe to this topic name, + * and they will in turn negotiate a peer-to-peer connection with this + * node. advertise() returns a Publisher object which allows you to + * publish messages on that topic through a call to publish(). Once + * all copies of the returned Publisher object are destroyed, the topic + * will be automatically unadvertised. + * + * The second parameter to advertise() is the size of the message queue + * used for publishing messages. If messages are published more quickly + * than we can send them, the number here specifies how many messages to + * buffer up before throwing some away. + */ + ros::Publisher rc_channels_pub = n.advertise<px4::rc_channels>("rc_channels", 1000); -// %Tag(LOOP_RATE)% - ros::Rate loop_rate(10); -// %EndTag(LOOP_RATE)% + px4::Rate loop_rate(10); - /** - * A count of how many messages we have sent. This is used to create - * a unique string for each message. - */ -// %Tag(ROS_OK)% - int count = 0; - while (ros::ok()) - { -// %EndTag(ROS_OK)% - /** - * This is a message object. You stuff it with data, and then publish it. - */ -// %Tag(FILL_MESSAGE)% - px4::rc_channels msg; + /** + * A count of how many messages we have sent. This is used to create + * a unique string for each message. + */ + int count = 0; - ros::Time time = ros::Time::now(); - msg.timestamp_last_valid = time.sec * 1e6 + time.nsec; -// %EndTag(FILL_MESSAGE)% + while (px4::ok()) { + /** + * This is a message object. You stuff it with data, and then publish it. + */ + px4::rc_channels msg; -// %Tag(ROSCONSOLE)% - px4_warnx("%lu", msg.timestamp_last_valid); -// %EndTag(ROSCONSOLE)% + msg.timestamp_last_valid = px4::get_time_micros(); + PX4_INFO("%lu", msg.timestamp_last_valid); - /** - * The publish() function is how you send messages. The parameter - * is the message object. The type of this object must agree with the type - * given as a template parameter to the advertise<>() call, as was done - * in the constructor above. - */ -// %Tag(PUBLISH)% - rc_channels_pub.publish(msg); -// %EndTag(PUBLISH)% + /** + * The publish() function is how you send messages. The parameter + * is the message object. The type of this object must agree with the type + * given as a template parameter to the advertise<>() call, as was done + * in the constructor above. + */ + rc_channels_pub.publish(msg); -// %Tag(SPINONCE)% - ros::spinOnce(); -// %EndTag(SPINONCE)% + px4::spin_once(); -// %Tag(RATE_SLEEP)% - loop_rate.sleep(); -// %EndTag(RATE_SLEEP)% - ++count; - } + loop_rate.sleep(); + ++count; + } - return 0; + return 0; } -// %EndTag(FULLTEXT)% |