int main(int argc, char **argv) {
if (argc < 2) {
printf("\nusage: relay TOPIC [VARIANT_TOPIC]\n\n");
return 1;
}
if (!getTopicBase((argv[1]), publisherTopic)) {
ROS_ERROR("Failed to extract topic base from [%s]", argv[1]);
return 1;
}
ros::init(argc, argv, publisherTopic+"_relay",
ros::init_options::AnonymousName);
if (argc == 2)
publisherTopic = std::string(argv[1])+"_relay";
else
publisherTopic = argv[2];
subscriberTopic = argv[1];
nodeHandle.reset(new ros::NodeHandle("~"));
bool unreliable = false;
nodeHandle->getParam("unreliable", unreliable);
nodeHandle->getParam("lazy", lazy);
if (unreliable)
subscriberTransportHints.unreliable().reliable();
subscribe();
ros::spin();
return 0;
}
int main(int argc, char **argv) {
if (argc < 2) {
printf("\nusage: echo TOPIC\n\n");
return 1;
}
if (!getTopicBase((argv[1]), subscriberTopic)) {
ROS_ERROR("Failed to extract topic base from [%s]", argv[1]);
return 1;
}
ros::init(argc, argv, subscriberTopic+"_echo",
ros::init_options::AnonymousName);
subscriberTopic = argv[1];
nodeHandle.reset(new ros::NodeHandle("~"));
subscribe();
ros::spin();
return 0;
}
