void subscriberCallback(const ros::SingleSubscriberPublisher& pub)
{
test_roscpp::TestEmpty msg;
for(int i = 0; i < g_msg_count; i++)
{
pub.publish(msg);
ROS_INFO("published message %d", i);
}
}
void connectCallback(const ros::SingleSubscriberPublisher &pub, int msg_count, int min_size, int max_size)
{
test_roscpp::TestArray msg;
for(int i = 0; i < msg_count; i++)
{
msg.counter = i;
int j = min_size + (int) ((max_size - min_size) * (rand() / (RAND_MAX + 1.0)));
msg.float_arr.resize(j);
ROS_INFO("published message %d (%d bytes)\n",
msg.counter, ros::serialization::Serializer<test_roscpp::TestArray>::serializedLength(msg));
pub.publish(msg);
}
}
void connect_compass_callback(const ros::SingleSubscriberPublisher& pub)
{
std_msgs::Int8 msg;
msg.data = get_compass();
pub.publish(msg);
}
void connect_odometry_callback(const ros::SingleSubscriberPublisher& pub)
{
pack_pose(_q,_odom);
pub.publish(_odom);
}