62 lines
1.6 KiB
C++
62 lines
1.6 KiB
C++
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#include <memory>
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#include <chrono>
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/string.hpp"
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using namespace std::chrono_literals;
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class PingNode : public rclcpp::Node
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{
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public:
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PingNode(rclcpp::NodeOptions options) : Node("ping_node", options)
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{
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sub_ = this->create_subscription<std_msgs::msg::String>(
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"pong",
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rclcpp::QoS(10),
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std::bind(&PingNode::callback, this, std::placeholders::_1));
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pub_ = this->create_publisher<std_msgs::msg::String>(
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"ping",
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rclcpp::QoS(10));
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timer_ = this->create_wall_timer(
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500ms,
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std::bind(&PingNode::timer_callback, this));
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}
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private:
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void callback(const std_msgs::msg::String::SharedPtr msg)
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{
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RCLCPP_INFO(this->get_logger(), "[output] %s", msg->data.c_str());
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rclcpp::shutdown();
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}
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void timer_callback()
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{
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auto msg = std::make_shared<std_msgs::msg::String>();
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msg->data = "some random ping string";
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pub_->publish(*msg);
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}
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rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
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rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
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rclcpp::TimerBase::SharedPtr timer_;
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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 ping_node = std::make_shared<PingNode>(rclcpp::NodeOptions());
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exec.add_node(ping_node);
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printf("spinning\n");
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exec.spin();
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// Will actually be called inside the node's callback
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rclcpp::shutdown();
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return 0;
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}
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