Example for -> feature/ros connection

src/ros_demo.cpp

@@ -8,10 +8,13 @@
 
 #include "ccf/controller/Controller.h"
 #include "ccf/connection/RosConnection.h"
-#include "ccf/util/NodeUtil.h"
 
-void receiverCallback(const std::string& msg){
-    std::cout << "RECEIVED: " << msg << std::endl;
+void receiverCallbackA(const std::string& msg){
+    std::cout << "RECEIVED on A: " << msg << std::endl;
+}
+
+void receiverCallbackB(const std::string& msg){
+    std::cout << "RECEIVED on B: " << msg << std::endl;
 }
 
 int main(int argc, char **argv) {
@@ -24,11 +27,21 @@ int main(int argc, char **argv) {
 
     Controller controller{n};
 
-    std::unique_ptr<RosConnection> connection = std::make_unique<RosConnection>("demo", n);
-    connection->setTopic("demo");
-   // connection->setHandle(n);
+    std::unique_ptr<RosConnection> connection = std::make_unique<RosConnection>(n, 3000, 3000);
+    connection->listen("topicA");
+    connection->listen("topicB");
+
+    connection->addPublisher("topicA");
+
     controller.addConnection(std::move(connection));
-    controller.addCallback("demo",receiverCallback);
+
+    controller.addCallback("topicA",receiverCallbackA);
+    controller.addCallback("topicB",receiverCallbackB);
+
+    // make sure that the publisher got registered within the master
+    ros::Rate(ros::Duration(0.5)).sleep();
+
+    controller.sendToAll("topicA", "Hello World!");
 
     ros::spin();