Select Git revision
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;
}