int main(int argc, char **argv) { ros::init(argc, argv, "lazorzzz"); ros::NodeHandle nh; setup(); ros::Subscriber sub = nh.subscribe("scan_throttle", 1, scan_cb); pub = nh.advertise<std_msgs::Bool>("laser_obs", 1); //---------------------------------------------------------------- scan_pub = nh.advertise<sensor_msgs::LaserScan>("scan2", 1); scan_pub2 = nh.advertise<sensor_msgs::LaserScan>("scan3", 1); scanout.ranges.resize(800); leaderless.ranges.resize(800); //---------------------------------------------------------------- ros::Rate spin_rate(10); //ros::spin(); while(ros::ok()) { ros::spinOnce(); //spin_rate.sleep(); } return 0; }
void update() { ros::Rate spin_rate(10); controller_->enable(); // enable the controller when loading the nodelet while (! shutdown_requested_ && ros::ok()) { controller_->spin(); spin_rate.sleep(); } }
/// Reads the parameters given by the dynamic reconfigure server /// and publishes corresponding sound messages. int main(int argc, char** argv) { ros::init(argc, argv, "sound_sender"); // Create the dynamic reconfigure server. typedef dynamic_reconfigure::Server<sound_sender::SoundSenderConfig> ReconfigureServer; ReconfigureServer reconfigure_server; ReconfigureServer::CallbackType callback_function; callback_function = boost::bind(&reconfigure_callback, _1, _2); reconfigure_server.setCallback(callback_function); // Create the sound message publisher. ros::NodeHandle nh; ros::Publisher publisher = nh.advertise<sound_msg::sound>("sound", 100); // Publish messages and process reconfiguration requests. ros::Rate spin_rate(10); // 10 Hz. while (ros::ok()) { // Create a sound message. sound_msg::sound msg; msg.header.stamp = ros::Time::now(); msg.header.frame_id = "/world"; msg.file = file; msg.volume = volume; msg.pitch = pitch; msg.position.x = x; msg.position.y = y; msg.position.z = z; msg.channel = file; // Put the message in the publisher's queue. if (new_sound || repeat) { publisher.publish(msg); new_sound = false; } // Process messages and reconfigure requests. ros::spinOnce(); spin_rate.sleep(); } return EXIT_SUCCESS; }
int main(int argc, char **argv) { ros::init(argc, argv, "depth_img_listener"); ros::NodeHandle nh; setup(); cv::namedWindow("show"); cv::namedWindow("show2"); cv::startWindowThread(); cv::setMouseCallback("show", mouse_cb, NULL); image_transport::ImageTransport it(nh); image_transport::Subscriber d_sub = it.subscribe("camera/depth/image_rect", 1, depthCallback); image_transport::Subscriber i_sub = it.subscribe("camera/rgb/image_raw", 1, imageCallback); pub = nh.advertise<std_msgs::Bool>("kinect_obs", 1); ros::Rate spin_rate(10); while(ros::ok()) { ros::spinOnce(); spin_rate.sleep(); } cv::destroyWindow("show"); cv::destroyWindow("show2"); return 0; }