From f85d82507a9928943bd81ebb39c4bd03d68806bd Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Tue, 13 Jul 2021 18:08:29 +0200
Subject: [PATCH] talker/listener example without catkin
---
.gitignore | 107 +++++++++++++
.idea/.gitignore | 8 +
.idea/codeStyles/Project.xml | 7 +
.idea/codeStyles/codeStyleConfig.xml | 5 +
.idea/compiler.xml | 6 +
.idea/jarRepositories.xml | 45 ++++++
.idea/misc.xml | 10 ++
build.gradle | 21 +++
gradle/wrapper/gradle-wrapper.properties | 5 +
gradlew | 185 ++++++++++++++++++++++
gradlew.bat | 104 ++++++++++++
settings.gradle | 2 +
src/main/java/tud/inf/st/rj/Listener.java | 21 +++
src/main/java/tud/inf/st/rj/Main.java | 40 +++++
src/main/java/tud/inf/st/rj/Talker.java | 50 ++++++
15 files changed, 616 insertions(+)
create mode 100644 .gitignore
create mode 100644 .idea/.gitignore
create mode 100644 .idea/codeStyles/Project.xml
create mode 100644 .idea/codeStyles/codeStyleConfig.xml
create mode 100644 .idea/compiler.xml
create mode 100644 .idea/jarRepositories.xml
create mode 100644 .idea/misc.xml
create mode 100644 build.gradle
create mode 100644 gradle/wrapper/gradle-wrapper.properties
create mode 100755 gradlew
create mode 100644 gradlew.bat
create mode 100644 settings.gradle
create mode 100644 src/main/java/tud/inf/st/rj/Listener.java
create mode 100644 src/main/java/tud/inf/st/rj/Main.java
create mode 100644 src/main/java/tud/inf/st/rj/Talker.java
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ff5b56b
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,107 @@
+# From https://github.com/github/gitignore/blob/master/Gradle.gitignore
+.gradle
+/build/
+
+# Ignore Gradle GUI config
+gradle-app.setting
+
+# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
+!gradle-wrapper.jar
+
+# Cache of project
+.gradletasknamecache
+
+# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
+# gradle/wrapper/gradle-wrapper.properties
+
+
+
+# From https://github.com/github/gitignore/blob/master/Java.gitignore
+*.class
+
+# Mobile Tools for Java (J2ME)
+.mtj.tmp/
+
+# Package Files #
+*.jar
+*.war
+*.ear
+
+# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
+hs_err_pid*
+
+
+# From https://github.com/github/gitignore/blob/master/Global/JetBrains.gitignore
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and Webstorm
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff:
+.idea/workspace.xml
+.idea/tasks.xml
+.idea/dictionaries
+.idea/vcs.xml
+.idea/jsLibraryMappings.xml
+
+# Sensitive or high-churn files:
+.idea/dataSources.ids
+.idea/dataSources.xml
+.idea/dataSources.local.xml
+.idea/sqlDataSources.xml
+.idea/dynamic.xml
+.idea/uiDesigner.xml
+
+# Gradle:
+.idea/gradle.xml
+.idea/libraries
+
+# Mongo Explorer plugin:
+.idea/mongoSettings.xml
+
+## File-based project format:
+*.iws
+
+## Plugin-specific files:
+
+# IntelliJ
+/out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+
+*.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
diff --git a/.idea/.gitignore b/.idea/.gitignore
new file mode 100644
index 0000000..73f69e0
--- /dev/null
+++ b/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
+# Editor-based HTTP Client requests
+/httpRequests/
diff --git a/.idea/codeStyles/Project.xml b/.idea/codeStyles/Project.xml
new file mode 100644
index 0000000..919ce1f
--- /dev/null
+++ b/.idea/codeStyles/Project.xml
@@ -0,0 +1,7 @@
+<component name="ProjectCodeStyleConfiguration">
+ <code_scheme name="Project" version="173">
+ <ScalaCodeStyleSettings>
+ <option name="MULTILINE_STRING_CLOSING_QUOTES_ON_NEW_LINE" value="true" />
+ </ScalaCodeStyleSettings>
+ </code_scheme>
+</component>
\ No newline at end of file
diff --git a/.idea/codeStyles/codeStyleConfig.xml b/.idea/codeStyles/codeStyleConfig.xml
new file mode 100644
index 0000000..a55e7a1
--- /dev/null
+++ b/.idea/codeStyles/codeStyleConfig.xml
@@ -0,0 +1,5 @@
+<component name="ProjectCodeStyleConfiguration">
+ <state>
+ <option name="PREFERRED_PROJECT_CODE_STYLE" value="Default" />
+ </state>
+</component>
\ No newline at end of file
diff --git a/.idea/compiler.xml b/.idea/compiler.xml
new file mode 100644
index 0000000..61a9130
--- /dev/null
+++ b/.idea/compiler.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="CompilerConfiguration">
+ <bytecodeTargetLevel target="1.8" />
+ </component>
+</project>
\ No newline at end of file
diff --git a/.idea/jarRepositories.xml b/.idea/jarRepositories.xml
new file mode 100644
index 0000000..cb9ac52
--- /dev/null
+++ b/.idea/jarRepositories.xml
@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="RemoteRepositoriesConfiguration">
+ <remote-repository>
+ <option name="id" value="central" />
+ <option name="name" value="Maven Central repository" />
+ <option name="url" value="https://repo1.maven.org/maven2" />
+ </remote-repository>
+ <remote-repository>
+ <option name="id" value="jboss.community" />
+ <option name="name" value="JBoss Community repository" />
+ <option name="url" value="https://repository.jboss.org/nexus/content/repositories/public/" />
+ </remote-repository>
+ <remote-repository>
+ <option name="id" value="MavenRepo" />
+ <option name="name" value="MavenRepo" />
+ <option name="url" value="https://repo.maven.apache.org/maven2/" />
+ </remote-repository>
+ <remote-repository>
+ <option name="id" value="maven" />
+ <option name="name" value="maven" />
+ <option name="url" value="https://github.com/rosjava/rosjava_mvn_repo/raw/master" />
+ </remote-repository>
+ <remote-repository>
+ <option name="id" value="maven" />
+ <option name="name" value="maven" />
+ <option name="url" value="http://repo1.maven.org/maven2" />
+ </remote-repository>
+ <remote-repository>
+ <option name="id" value="maven" />
+ <option name="name" value="maven" />
+ <option name="url" value="http://www.mvnrepository.com" />
+ </remote-repository>
+ <remote-repository>
+ <option name="id" value="maven" />
+ <option name="name" value="maven" />
+ <option name="url" value="https://repo.spring.io/libs-release/" />
+ </remote-repository>
+ <remote-repository>
+ <option name="id" value="BintrayJCenter" />
+ <option name="name" value="BintrayJCenter" />
+ <option name="url" value="https://jcenter.bintray.com/" />
+ </remote-repository>
+ </component>
+</project>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
new file mode 100644
index 0000000..2266f6b
--- /dev/null
+++ b/.idea/misc.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="ExternalStorageConfigurationManager" enabled="true" />
+ <component name="FrameworkDetectionExcludesConfiguration">
+ <file type="web" url="file://$PROJECT_DIR$" />
+ </component>
+ <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" default="true" project-jdk-name="1.8" project-jdk-type="JavaSDK">
+ <output url="file://$PROJECT_DIR$/out" />
+ </component>
+</project>
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
new file mode 100644
index 0000000..47ae226
--- /dev/null
+++ b/build.gradle
@@ -0,0 +1,21 @@
+plugins {
+ id 'java'
+}
+
+group 'org.example'
+version '1.0-SNAPSHOT'
+
+repositories {
+ maven {
+ url "https://github.com/rosjava/rosjava_mvn_repo/raw/master"
+ }
+ mavenCentral()
+ jcenter()
+}
+
+dependencies {
+ testCompile group: 'junit', name: 'junit', version: '4.12'
+ compile 'org.ros.rosjava_core:rosjava:[0.3,0.4)'
+ compile 'org.ros.rosjava_messages:std_msgs:[0.5.8,0.5.11)'
+ implementation 'org.ros.rosjava_bootstrap:message_generation:[0.3, 0.4)'
+}
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000..a4b4429
--- /dev/null
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.3-bin.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
diff --git a/gradlew b/gradlew
new file mode 100755
index 0000000..fbd7c51
--- /dev/null
+++ b/gradlew
@@ -0,0 +1,185 @@
+#!/usr/bin/env sh
+
+#
+# Copyright 2015 the original author or authors.
+#
+# 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 the License at
+#
+# https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+##############################################################################
+##
+## Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+ ls=`ls -ld "$PRG"`
+ link=`expr "$ls" : '.*-> \(.*\)$'`
+ if expr "$link" : '/.*' > /dev/null; then
+ PRG="$link"
+ else
+ PRG=`dirname "$PRG"`"/$link"
+ fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+ echo "$*"
+}
+
+die () {
+ echo
+ echo "$*"
+ echo
+ exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+ CYGWIN* )
+ cygwin=true
+ ;;
+ Darwin* )
+ darwin=true
+ ;;
+ MINGW* )
+ msys=true
+ ;;
+ NONSTOP* )
+ nonstop=true
+ ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+ if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+ # IBM's JDK on AIX uses strange locations for the executables
+ JAVACMD="$JAVA_HOME/jre/sh/java"
+ else
+ JAVACMD="$JAVA_HOME/bin/java"
+ fi
+ if [ ! -x "$JAVACMD" ] ; then
+ die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+ fi
+else
+ JAVACMD="java"
+ which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+ MAX_FD_LIMIT=`ulimit -H -n`
+ if [ $? -eq 0 ] ; then
+ if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+ MAX_FD="$MAX_FD_LIMIT"
+ fi
+ ulimit -n $MAX_FD
+ if [ $? -ne 0 ] ; then
+ warn "Could not set maximum file descriptor limit: $MAX_FD"
+ fi
+ else
+ warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+ fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+ GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
+ APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+ CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+
+ JAVACMD=`cygpath --unix "$JAVACMD"`
+
+ # We build the pattern for arguments to be converted via cygpath
+ ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+ SEP=""
+ for dir in $ROOTDIRSRAW ; do
+ ROOTDIRS="$ROOTDIRS$SEP$dir"
+ SEP="|"
+ done
+ OURCYGPATTERN="(^($ROOTDIRS))"
+ # Add a user-defined pattern to the cygpath arguments
+ if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+ OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+ fi
+ # Now convert the arguments - kludge to limit ourselves to /bin/sh
+ i=0
+ for arg in "$@" ; do
+ CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+ CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
+
+ if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
+ eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+ else
+ eval `echo args$i`="\"$arg\""
+ fi
+ i=`expr $i + 1`
+ done
+ case $i in
+ 0) set -- ;;
+ 1) set -- "$args0" ;;
+ 2) set -- "$args0" "$args1" ;;
+ 3) set -- "$args0" "$args1" "$args2" ;;
+ 4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+ 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+ 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+ 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+ 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+ 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+ esac
+fi
+
+# Escape application args
+save () {
+ for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+ echo " "
+}
+APP_ARGS=`save "$@"`
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
new file mode 100644
index 0000000..a9f778a
--- /dev/null
+++ b/gradlew.bat
@@ -0,0 +1,104 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/settings.gradle b/settings.gradle
new file mode 100644
index 0000000..f5945e9
--- /dev/null
+++ b/settings.gradle
@@ -0,0 +1,2 @@
+rootProject.name = 'rosjava_gradle'
+
diff --git a/src/main/java/tud/inf/st/rj/Listener.java b/src/main/java/tud/inf/st/rj/Listener.java
new file mode 100644
index 0000000..26d671f
--- /dev/null
+++ b/src/main/java/tud/inf/st/rj/Listener.java
@@ -0,0 +1,21 @@
+package tud.inf.st.rj;
+
+import org.ros.namespace.GraphName;
+import org.ros.node.AbstractNodeMain;
+import org.ros.node.ConnectedNode;
+import org.ros.node.topic.Subscriber;
+
+public class Listener extends AbstractNodeMain {
+
+ @Override
+ public GraphName getDefaultNodeName() {
+ return GraphName.of("rosjava_tutorial_pubsub/listener");
+ }
+
+ @Override
+ public void onStart(ConnectedNode connectedNode) {
+
+ Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("chatter", std_msgs.String._TYPE);
+ subscriber.addMessageListener(message -> System.out.println("Received new message: " + message.getData()));
+ }
+}
diff --git a/src/main/java/tud/inf/st/rj/Main.java b/src/main/java/tud/inf/st/rj/Main.java
new file mode 100644
index 0000000..d12226e
--- /dev/null
+++ b/src/main/java/tud/inf/st/rj/Main.java
@@ -0,0 +1,40 @@
+package tud.inf.st.rj;
+
+import org.ros.node.*;
+import org.ros.node.NodeMainExecutor;
+
+import java.net.URI;
+import java.net.URISyntaxException;
+
+
+public class Main {
+
+ private static Talker talker;
+ private static Listener listener;
+
+ public static void main(String[] args) throws URISyntaxException {
+
+ // setup default configs for node execution
+ NodeMainExecutor nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
+ NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic("localhost");
+ nodeConfiguration.setMasterUri(new URI("http://localhost:11311"));
+
+ // create a talker an a listener
+ talker = new Talker();
+ listener = new Listener();
+
+ // start a listener thread
+ new Thread(() -> {
+ nodeMainExecutor.execute(listener, nodeConfiguration);
+ }) {{
+ start();
+ }};
+
+ // start a talker thread
+ new Thread(() -> {
+ nodeMainExecutor.execute(talker, nodeConfiguration);
+ }) {{
+ start();
+ }};
+ }
+}
diff --git a/src/main/java/tud/inf/st/rj/Talker.java b/src/main/java/tud/inf/st/rj/Talker.java
new file mode 100644
index 0000000..9329ade
--- /dev/null
+++ b/src/main/java/tud/inf/st/rj/Talker.java
@@ -0,0 +1,50 @@
+package tud.inf.st.rj;
+
+import org.ros.concurrent.CancellableLoop;
+import org.ros.namespace.GraphName;
+import org.ros.node.AbstractNodeMain;
+import org.ros.node.ConnectedNode;
+import org.ros.node.topic.Publisher;
+
+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() {
+ return GraphName.of("rosjava_tutorial_pubsub/talker");
+ }
+
+ @Override
+ public void onStart(final ConnectedNode connectedNode) {
+ final Publisher<std_msgs.String> publisher =
+ connectedNode.newPublisher(topic_name, std_msgs.String._TYPE);
+ // This CancellableLoop will be canceled automatically when the node shuts
+ // down.
+ connectedNode.executeCancellableLoop(new CancellableLoop() {
+ private int sequenceNumber;
+
+ @Override
+ protected void setup() {
+ sequenceNumber = 0;
+ }
+
+ @Override
+ protected void loop() throws InterruptedException {
+ std_msgs.String str = publisher.newMessage();
+ str.setData("Hello world! " + sequenceNumber);
+ publisher.publish(str);
+ sequenceNumber++;
+ Thread.sleep(1000);
+ }
+ });
+ }
+}
--
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