fixed talker / listener

my_pub_sub_tutorial/src/main/java/com/github/rosjava_catkin_package_a/my_pub_sub_tutorial/Listener.java

 /*
- * Copyright (C) 2014 Sebastian Ebert.
+ * Copyright (C) 2011 Google Inc.
  * 
  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
  * use this file except in compliance with the License. You may obtain a copy of
@@ -14,12 +14,8 @@
  * the License.
  */
 
-package com.github.rosjava.rosjava_catkin_package_a.my_pub_sub_tutorial;
+package org.ros.rosjava_tutorial_pubsub;
 
-import de.tudresden.inf.st.pnml.jastadd.model.JavaHandler;
-import de.tudresden.inf.st.pnml.jastadd.model.Marking;
-import de.tudresden.inf.st.service.PetriNetInitService;
-import de.tudresden.inf.st.service.PetriNetLoggingService;
 import org.apache.commons.logging.Log;
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
@@ -27,52 +23,21 @@ import org.ros.node.AbstractNodeMain;
 import org.ros.node.ConnectedNode;
 import org.ros.node.NodeMain;
 import org.ros.node.topic.Subscriber;
-//import rosjava_custom_srv.sample;
-
-import java.util.List;
 
 /**
  * A simple {@link Subscriber} {@link NodeMain}.
+ * 
+ * @author damonkohler@google.com (Damon Kohler)
  */
-/*public class Listener extends AbstractNodeMain {
-
-  @Override
-  public GraphName getDefaultNodeName() {
-    return GraphName.of("rosjava/listener");
-  }
-
-  @Override
-  public void onStart(ConnectedNode connectedNode) {
-    final Log log = connectedNode.getLog();
-    Subscriber<rosjava_custom_srv.sample> subscriber = connectedNode.newSubscriber("chatter", rosjava_custom_srv.sample._TYPE);
-    subscriber.addMessageListener(new MessageListener<rosjava_custom_srv.sample>() {
-      @Override
-      public void onNewMessage(rosjava_custom_srv.sample message) {
-        log.info("I heard: \"" + message.getData() + "\"");
-      }
-    });
-  }
-}*/
-
-/**
- * A simple {@link Subscriber} {@link NodeMain}.
-*/
 public class Listener extends AbstractNodeMain {
 
   @Override
   public GraphName getDefaultNodeName() {
-    return GraphName.of("rosjava/listener");
+    return GraphName.of("rosjava_tutorial_pubsub/listener");
   }
 
   @Override
   public void onStart(ConnectedNode connectedNode) {
-
-    JavaHandler javaHandler = JavaHandler.getInstance();
-    List<Marking> markedGraphs = PetriNetInitService.initMarkedGraphs("src/rosjava_catkin_package_a/my_pub_sub_tutorial/src/main/resources/minimal.pnml");
-    PetriNetLoggingService.printInputSignals(markedGraphs.get(0));
-    PetriNetLoggingService.printOutputSignals(markedGraphs.get(0));
-    markedGraphs.get(0).print();
-
     final Log log = connectedNode.getLog();
     Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("chatter", std_msgs.String._TYPE);
     subscriber.addMessageListener(new MessageListener<std_msgs.String>() {
@@ -82,4 +47,4 @@ public class Listener extends AbstractNodeMain {
       }
     });
   }
-}
\ No newline at end of file
+}

my_pub_sub_tutorial/src/main/java/com/github/rosjava_catkin_package_a/my_pub_sub_tutorial/Talker.java

 /*
- * Copyright (C) 2014 Sebastian Ebert.
+ * Copyright (C) 2011 Google Inc.
  * 
  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
  * use this file except in compliance with the License. You may obtain a copy of
@@ -14,7 +14,7 @@
  * the License.
  */
 
-package com.github.rosjava.rosjava_catkin_package_a.my_pub_sub_tutorial;
+package org.ros.rosjava_tutorial_pubsub;
 
 import org.ros.concurrent.CancellableLoop;
 import org.ros.namespace.GraphName;
@@ -22,61 +22,33 @@ import org.ros.node.AbstractNodeMain;
 import org.ros.node.ConnectedNode;
 import org.ros.node.NodeMain;
 import org.ros.node.topic.Publisher;
-//import rosjava_custom_srv.sample;
-
-
 
 /**
  * A simple {@link Publisher} {@link NodeMain}.
+ * 
+ * @author damonkohler@google.com (Damon Kohler)
  */
-/*public class Talker extends AbstractNodeMain {
+public class Talker extends AbstractNodeMain {
+  private String topic_name;
 
-  @Override
-  public GraphName getDefaultNodeName() {
-    return GraphName.of("rosjava/talker");
+  public Talker() {
+    topic_name = "chatter";
   }
 
-  @Override
-  public void onStart(final ConnectedNode connectedNode) {
-    final Publisher<rosjava_custom_srv.sample> publisher =
-        connectedNode.newPublisher("chatter", rosjava_custom_srv.sample._TYPE);
-    // This CancellableLoop will be canceled automatically when the node shuts
-    // down.
-    connectedNode.executeCancellableLoop(new CancellableLoop() {
-      private String sendedString;
-
-      @Override
-      protected void setup() {
-        sendedString = "Hello World!";
-      }
-
-      @Override
-      protected void loop() throws InterruptedException {
-        rosjava_custom_srv.sample str = publisher.newMessage();
-        str.setData(sendedString);
-        publisher.publish(str);
-       // sequenceNumber++;
-        Thread.sleep(1000);
-      }
-    });
+  public Talker(String topic)
+  {
+    topic_name = topic;
   }
-}*/
-
-
-/**
- * A simple {@link Publisher} {@link NodeMain}.
- */
-public class Talker extends AbstractNodeMain {
 
   @Override
   public GraphName getDefaultNodeName() {
-    return GraphName.of("rosjava/talker");
+    return GraphName.of("rosjava_tutorial_pubsub/talker");
   }
 
   @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() {