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first prototype of templated rcl, using non-templated middleware interface, implemented by connext using dynamic data

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Dirk Thomas 2014-07-30 17:57:21 -07:00
parent a226aecd96
commit bcecf00928
13 changed files with 416 additions and 0 deletions
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userland/src/main.cpp Normal file
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#include "rclcpp/Node.h"
#include "rclcpp/Publisher.h"
#include "std_msgs/Int32.h"
main(int argc, char** argv)
{
rclcpp::Node* n = create_node();
rclcpp::Publisher<std_msgs::Int32>* p = n->create_publisher<std_msgs::Int32>("topic_name");
std_msgs::Int32 ros_msg;
ros_msg.data = 23;
p->publish(ros_msg);
ros_msg.data = 42;
p->publish(ros_msg);
return 0;
}