test-sigint.l

#!/usr/bin/env roseus
;;;                                                                                                                                                                       
;;; euslisp version of ros_tutorials/rospy_tutorials/001_talker_listener                                                                                                  
;;;                                                                                                                                                                       
;; redefine https://github.com/jsk-ros-pkg/jsk_roseus/blob/1.5.3/roseus/euslisp/roseus.l#L17                                                                              
(defun ros::roseus-sigint-handler (sig code)
  (ros::ROS-WARN (format nil "ros::roseus-sigint-handler ~A" sig))
  (ros::ros-info "hogehoge")
  (ros::publish "chatter" (instance std_msgs::string :init :data "hoge"))
  (exit 1))
;;                                                                                                                                                                        
(ros::load-ros-manifest "roseus")
;;                                                                                                                                                                        
(ros::roseus "talker")
(ros::advertise "chatter" std_msgs::string 1)
(ros::rate 100)
(while (ros::ok)
  (setq msg (instance std_msgs::string :init))
  (send msg :data (format nil "hello world ~a" (send (ros::time-now) :sec-nsec)))
  (ros::ros-info "msg [~A]" (send msg :data))
  (ros::publish "chatter" msg)
  (ros::sleep)
  )
(ros::roseus-sigint-handler ros::sig ros::code)