From eb0bd4986aea910ecb124d5fa600067968e80f6c Mon Sep 17 00:00:00 2001 From: Daniel Stonier <d.stonier@gmail.com> Date: Mon, 23 Feb 2015 00:15:36 +0900 Subject: [PATCH] allow setting of the talker topic name in pubsub tutorial. --- rosjava_tutorial_pubsub/build.gradle | 3 +++ .../java/org/ros/rosjava_tutorial_pubsub/Talker.java | 12 +++++++++++- 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/rosjava_tutorial_pubsub/build.gradle b/rosjava_tutorial_pubsub/build.gradle index b3c0d175..6a5dcbbf 100644 --- a/rosjava_tutorial_pubsub/build.gradle +++ b/rosjava_tutorial_pubsub/build.gradle @@ -21,3 +21,6 @@ mainClassName = 'org.ros.RosRun' dependencies { compile project(':rosjava') } + +defaultTasks 'publishMavenJavaPublicationToMavenRepository', 'installApp' + diff --git a/rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Talker.java b/rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Talker.java index 772ab87a..645d6ebc 100644 --- a/rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Talker.java +++ b/rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Talker.java @@ -29,6 +29,16 @@ import org.ros.node.topic.Publisher; * @author damonkohler@google.com (Damon Kohler) */ public class Talker extends AbstractNodeMain { + private String topic_name; + + public Talker() { + topic_name = "chatter"; + } + + public Talker(String topic) + { + topic_name = topic; + } @Override public GraphName getDefaultNodeName() { @@ -38,7 +48,7 @@ public class Talker extends AbstractNodeMain { @Override public void onStart(final ConnectedNode connectedNode) { final Publisher<std_msgs.String> publisher = - connectedNode.newPublisher("chatter", std_msgs.String._TYPE); + connectedNode.newPublisher(topic_name, std_msgs.String._TYPE); // This CancellableLoop will be canceled automatically when the node shuts // down. connectedNode.executeCancellableLoop(new CancellableLoop() { -- GitLab