33 lines
641 B
C++
33 lines
641 B
C++
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/string.hpp"
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class PubNode : public rclcpp::Node
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{
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public:
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PubNode() : Node("pub_node")
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{
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pub_ = this->create_publisher<std_msgs::msg::String>(
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"the_topic",
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rclcpp::QoS(10));
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}
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private:
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rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
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};
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int main(int argc, char* argv[])
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{
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rclcpp::init(argc, argv);
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rclcpp::executors::SingleThreadedExecutor exec;
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auto pub_node = std::make_shared<PubNode>();
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exec.add_node(pub_node);
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printf("spinning once\n");
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exec.spin_once();
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rclcpp::shutdown();
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return 0;
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}
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