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Forked from alexsleat/Publish.cpp
Created June 24, 2018 01:13
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#include <stdio.h>
#include <stdlib.h>
#include "ros/ros.h"
#include "std_msgs/MultiArrayLayout.h"
#include "std_msgs/MultiArrayDimension.h"
#include "std_msgs/Int32MultiArray.h"
int main(int argc, char **argv)
{
ros::init(argc, argv, "arrayPublisher");
ros::NodeHandle n;
ros::Publisher pub = n.advertise<std_msgs::Int32MultiArray>("array", 100);
while (ros::ok())
{
std_msgs::Int32MultiArray array;
//Clear array
array.data.clear();
//for loop, pushing data in the size of the array
for (int i = 0; i < 90; i++)
{
//assign array a random number between 0 and 255.
array.data.push_back(rand() % 255);
}
//Publish array
pub.publish(array);
//Let the world know
ROS_INFO("I published something!");
//Do this.
ros::spinOnce();
//Added a delay so not to spam
sleep(2);
}
}
#include <stdio.h>
#include <stdlib.h>
#include <vector>
#include <iostream>
#include "ros/ros.h"
#include "std_msgs/MultiArrayLayout.h"
#include "std_msgs/MultiArrayDimension.h"
#include "std_msgs/Int32MultiArray.h"
int Arr[90];
void arrayCallback(const std_msgs::Int32MultiArray::ConstPtr& array);
int main(int argc, char **argv)
{
ros::init(argc, argv, "arraySubscriber");
ros::NodeHandle n;
ros::Subscriber sub3 = n.subscribe("array", 100, arrayCallback);
ros::spinOnce();
for(j = 1; j < 90; j++)
{
printf("%d, ", Arr[j]);
}
printf("\n");
return 0;
}
void arrayCallback(const std_msgs::Int32MultiArray::ConstPtr& array)
{
int i = 0;
// print all the remaining numbers
for(std::vector<int>::const_iterator it = array->data.begin(); it != array->data.end(); ++it)
{
Arr[i] = *it;
i++;
}
return;
}
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