while(ros :: ok) Dynamic publish

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

262 ●32 ●41 ●51 http://deepiinside.blo...

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

 }

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

Comments

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

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

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

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

add a comment

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

destogl

877 ●4 ●31 ●26 https://www.stoglrobotics.de

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

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

EDIT:

Exact code is:

 ros::Rate rate(200);
 while(ros::ok())
 {
       //calculate somehow new abc
       abc = new_abc;
       pub.publish(abc);
       loop_rate.sleep();               
 }

Thanks @NEngelhard!