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added a messageplayer prototype for ros

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Thomas Gubler
2015-01-21 14:26:22 +01:00
parent 8121574632
commit 7c3223b860
15 changed files with 496 additions and 172 deletions
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src/examples/publisher/publisher_example.cpp
+14 -5
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@@ -45,7 +45,8 @@ using namespace px4;
PublisherExample::PublisherExample() :
_n(),
_rc_channels_pub(PX4_ADVERTISE(_n, rc_channels))
_rc_channels_pub(_n.advertise<px4_rc_channels>())
// _rc_channels_pub(PX4_ADVERTISE(_n, rc_channels))
{
}
@@ -55,11 +56,19 @@ int PublisherExample::main()
px4::Rate loop_rate(10);
while (px4::ok()) {
PX4_TOPIC_T(rc_channels) msg;
msg.timestamp_last_valid = px4::get_time_micros();
PX4_INFO("%llu", msg.timestamp_last_valid);
// PX4_TOPIC_T(rc_channels) msg;
// msg.timestamp_last_valid = px4::get_time_micros();
// PX4_INFO("%llu", msg.timestamp_last_valid);
// _rc_channels_pub->publish(msg);
//XXX
px4_rc_channels msg2;
msg2.data().timestamp_last_valid = px4::get_time_micros();
PX4_INFO("%llu", msg2.data().timestamp_last_valid);
// msg2.pub->publish2();
_rc_channels_pub->publish(msg2);
_rc_channels_pub->publish(msg);
_n.spinOnce();
loop_rate.sleep();
src/examples/publisher/publisher_example.h
+1
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@@ -48,5 +48,6 @@ public:
int main();
protected:
px4::NodeHandle _n;
// px4::Publisher<px4::px4_rc_channels> * _rc_channels_pub;
px4::Publisher * _rc_channels_pub;
};