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1 | initial version |
Here is a tiny little example adapted from the roscpp
[publisher/subscriber](http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber(c%2B%2B) tutorial.
#include <ros/ros.h>
#include "roscopter/RC.h"
int main(int argc, char **argv)
{
ros::init(argc, argv, "rc_sender");
ros::NodeHandle n;
ros::Publisher rc_pub = n.advertise<roscopter::RC>("send_rc", 1000);
ros::Rate loop_rate(10);
int count = 0;
while (ros::ok())
{
roscopter::RC msg;
rc_pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
++count;
}
return 0;
}
My manifest.xml (or package.xml in Groovy) declares the roscopter package as a dependency. Also, my CMakeLists.txt file is set to compile this file. Running the produced executable indeed publishes an empty roscopter/RC
message at 10 Hz.