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not_composable.cpp
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not_composable.cpp
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// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <iostream>
#include <chrono>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
using namespace std::chrono_literals;
/* We do not recommend this style anymore, because composition of multiple
* nodes in the same executable is not possible. Please see one of the subclass
* examples for the "new" recommended styles. This example is only included
* for completeness because it is similar to "classic" standalone ROS nodes. */
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
auto node = rclcpp::Node::make_shared("minimal_publisher");
auto publisher = node->create_publisher<std_msgs::msg::String>("topic");
auto message = std::make_shared<std_msgs::msg::String>();
auto publish_count = 0;
rclcpp::WallRate loop_rate(500ms);
while (rclcpp::ok()) {
message->data = "Hello, world! " + std::to_string(publish_count++);
RCLCPP_INFO(node->get_logger(), "Publishing: '%s'", message->data.c_str());
publisher->publish(message);
rclcpp::spin_some(node);
loop_rate.sleep();
}
rclcpp::shutdown();
return 0;
}