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1 | initial version |
Create another publisher (class) inside the node like in the C++ tutorial for creating nodes? Should be something like this:
ros::Publisher pub; //When in class this is the member in class definition
pub = nh.advertise<pkg::TopicType>("awesome_topic", 1000 /*Queue*/); //This goes to Constructor
//Your message somewhere in your main loop...
pkg::TopicType msg;
/*add data to your msg here*/
msg.field="some data";
pub.publish(msg); //Publish it
See here: http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
Does that solve your question?
2 | No.2 Revision |
Create another publisher (class) inside the node like in the C++ tutorial for creating nodes? Should be something like this:
ros::Publisher pub; //When in class this is the member in class definition
pub = nh.advertise<pkg::TopicType>("awesome_topic", 1000 /*Queue*/); //This goes to Constructor
//Your message somewhere in //Maybe your main loop...
loop
ros::Rate rate(10);
while(ros:ok())
{
pkg::TopicType msg;
/*add data to your msg here*/
msg.field="some data";
pub.publish(msg); //Publish it
ros::spinOnce();
rate.sleep(); //limit loop rate
}
See here: http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
Does that solve your question?