Created
December 8, 2018 13:38
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Debugger node created using C++ in ROS
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#include "ros/ros.h" | |
#include "stdlib.h" | |
int main(int argc, char **argv) { | |
// Initialize ROS node | |
ros::init(argc, argv, "DebuggerCheck"); | |
// Node handler | |
ros::NodeHandle nodeHandler; | |
// Perform cycle 2 times a second (2 Hz) | |
ros::Rate rateHandler = ros::Rate(2); | |
// Condition for the conditional debugger statements | |
bool printCondition = true; | |
while(ros::ok()) { | |
// Clear screen | |
system("clear"); | |
// Publish all kinds of messages | |
// As a continuous chunk of data to be written | |
ROS_DEBUG("This is a continuous debug message"); | |
ROS_INFO("This is a continuous info message"); | |
ROS_WARN("This is a continuous warning message"); | |
ROS_ERROR("This is a continuous error message"); | |
ROS_FATAL("This is a continuous fatal message"); | |
// As C++ stream | |
ROS_DEBUG_STREAM("This is a " << "streamed " << "debug message"); | |
ROS_INFO_STREAM("This is a " << "streamed " << "info message"); | |
ROS_WARN_STREAM("This is a " << "streamed " << "warning message"); | |
ROS_ERROR_STREAM("This is a " << "streamed " << "error message"); | |
ROS_FATAL_STREAM("This is a " << "streamed " << "fatal message"); | |
// As a conditional statement | |
ROS_DEBUG_COND(printCondition, "This is a conditional debug message"); | |
ROS_INFO_COND(printCondition, "This is a conditional info message"); | |
ROS_WARN_COND(printCondition, "This is a conditional warning message"); | |
ROS_ERROR_COND(printCondition, "This is a conditional error message"); | |
ROS_FATAL_COND(printCondition, "This is a conditional fatal message"); | |
// Cause a delay | |
rateHandler.sleep(); | |
} | |
return 0; | |
} |
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