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Diffstat (limited to 'src/examples/publisher/publisher_example.h')
-rw-r--r-- | src/examples/publisher/publisher_example.h | 55 |
1 files changed, 55 insertions, 0 deletions
diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h new file mode 100644 index 000000000..8165b0ffc --- /dev/null +++ b/src/examples/publisher/publisher_example.h @@ -0,0 +1,55 @@ +/**************************************************************************** + * + * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file publisher.h + * Example publisher for ros and px4 + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ +#pragma once +#include <px4.h> + +class PublisherExample { +public: + PublisherExample(); + + ~PublisherExample() {}; + + int main(); +protected: + px4::NodeHandle _n; + px4::Publisher<px4::px4_rc_channels> * _rc_channels_pub; + px4::Publisher<px4::px4_vehicle_attitude> * _v_att_pub; + px4::Publisher<px4::px4_parameter_update> * _parameter_update_pub; +}; |