Skip to content
Snippets Groups Projects
Select Git revision
  • 65e6be75a538fbb5420907097a779bcd5b4d6104
  • dev default protected
  • main protected
  • feature/ros-java-integration
4 results

adding.md

Blame
  • ros_demo.cpp 798 B
    //
    // Created by sebastian on 02.11.21.
    //
    
    #include <ros/ros.h>
    #include <ros/package.h>
    #include <std_msgs/Empty.h>
    
    #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;
    }
    
    int main(int argc, char **argv) {
    
        GOOGLE_PROTOBUF_VERIFY_VERSION;
    
        ros::init(argc, argv, "ros_demo");
    
        ros::NodeHandle n;
    
        Controller controller{n};
    
        std::unique_ptr<RosConnection> connection = std::make_unique<RosConnection>("demo", n);
        connection->setTopic("demo");
       // connection->setHandle(n);
        controller.addConnection(std::move(connection));
        controller.addCallback("demo",receiverCallback);
    
        ros::spin();
    
        return 0;
    }