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; }