ROS C++ echo 구현 - 1

https://github.com/robotpilot/ros-seminar 자료를 참조했다

 

$ cs
$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp message_generation

 

#include <sstream>
#include <ros/ros.h>
#include <std_msgs/String.h>

int main(int argc, char *argv[])
{
    ros::init(argc, argv, "hello_world_node");
    ros::NodeHandle nh;
    ros::Publisher chatter_pub = nh.advertise<std_msgs::String>("say_hello_world", 1000);
    ros::Rate loop_rate(10);
    int count = 0;

    while(ros::ok()) {
        std_msgs::String msg;
        std::stringstream ss;

        ss << "hello world! " << count;
        msg.data = ss.str();
        ROS_INFO("%s", msg.data.c_str());

        chatter_pub.publish(msg);
        ros::spinOnce();
        loop_rate.sleep();
        ++count;
    }

    return 0;
}

 

 

$ cm 
$ sb 
$ rospack profile