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)%