From 1e9f431cf1d93b64f26fb9c3e42329e7237bad0e Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Wed, 5 Nov 2014 15:03:00 +0100
Subject: ros example: send rc_channels message

---
 src/examples/publisher/publisher.cpp   | 16 ++++++++--------
 src/examples/subscriber/subscriber.cpp |  9 +++++----
 2 files changed, 13 insertions(+), 12 deletions(-)

(limited to 'src')

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)%
-- 
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