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talker.cpp

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  • talker.cpp 656 B
    #include "ros/ros.h"
    #include "std_msgs/String.h"
    #include <iostream>
    
    int main(int argc, char **argv)
    {
    
        ros::init(argc, argv, "talker");
        ros::NodeHandle hanlde;
    
        ros::Publisher talker_pub = hanlde.advertise<std_msgs::String>("/talker", 1000);
        ros::Rate loop_rate(10);
        int count = 0;
    
        while(ros::ok())
        {
            std_msgs::String rosMsg;
            std::stringstream ss;
    
            ss << "Hello Ros World [" << count << "]";
            rosMsg.data = ss.str();
    
            ROS_INFO("%s", rosMsg.data.c_str());
            talker_pub.publish(rosMsg);
    
            ros::spinOnce(); 
            loop_rate.sleep();
    
            ++count;
        }
    
        return 0;
    }