ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

while(ros :: ok) Dynamic publish

asked 2018-06-22 00:52:57 -0500

kk2105 gravatar image

Hi All,

I am beginner in ROS, please excuse me if this question is silly.

I have the below snippet.

int main()
     //Initialize and start the node
     ros::Publisher pub;
     //Define and create some messages
     while(ros : ok)
           ros_time = ros::time::now();


Now I need to update the abc every 5 ms and publish the updated one. Can anybody please tell me how this could be implemented.

Thank you. KK

edit retag flag offensive close merge delete



Hey! Could you maybe first do the tutorials on creating C++ Publishers? It quite exactly shows you what you need to do.

NEngelhard gravatar image NEngelhard  ( 2018-06-22 01:13:15 -0500 )edit

@NEngelhard thank you.. Going through the tutorials..

kk2105 gravatar image kk2105  ( 2018-06-22 05:25:15 -0500 )edit

1 Answer

Sort by » oldest newest most voted

answered 2018-06-22 02:22:49 -0500

updated 2018-06-26 06:39:49 -0500

You should use ros::Rate. See this Tutorials.


Exact code is:

 ros::Rate rate(200);
       //calculate somehow new abc
       abc = new_abc;

Thanks @NEngelhard!

edit flag offensive delete link more


Thank you @destogl ... Can we update that message every X ms and re-publish to the node ..?

kk2105 gravatar image kk2105  ( 2018-06-22 05:28:00 -0500 )edit

Yes, you should just add new value into abc variable...

destogl gravatar image destogl  ( 2018-06-22 05:38:49 -0500 )edit

while(ros :: ok) { ros_time = ros::time::now(); abc = new_abc; pub.publish(abc); ros::spinOnce;


@destol Is this the right way of doing it ?

kk2105 gravatar image kk2105  ( 2018-06-22 05:50:36 -0500 )edit

Exactly. But if you want to do this every 5ms I would use exact code from my answer.

destogl gravatar image destogl  ( 2018-06-22 06:03:32 -0500 )edit

@destogl Thank you, I just implemented that .. But one doubt, you missed sponOnce ?

kk2105 gravatar image kk2105  ( 2018-06-23 08:39:49 -0500 )edit

@kishorkumar No I didn‘t missed it. If you read carefully tutorial explanation, in this case one does not need it.

destogl gravatar image destogl  ( 2018-06-23 11:18:43 -0500 )edit

Thank you very much.. I will try implementing the same and update you on Tuesday..

kk2105 gravatar image kk2105  ( 2018-06-23 11:32:35 -0500 )edit

@destogl Thanks for the input, I just implemented it and it worked perfectly fine.

kk2105 gravatar image kk2105  ( 2018-06-26 06:35:06 -0500 )edit

Question Tools



Asked: 2018-06-22 00:52:57 -0500

Seen: 4,683 times

Last updated: Jun 26 '18