Raspberry Pi ROS Test

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(driving_msgs)

find_package(catkin REQUIRED COMPONENTS roscpp message_generation)

add_message_files(DIRECTORY msgs)

generate_messages()

catkin_package(
  CATKIN_DEPENDS message_runtime
)

include_directories(${catkin_INCLUDE_DIRS})

add_executable(test_publisher src/test_publisher.cpp)
target_link_libraries(test_publisher ${catkin_LIBRARIES})
add_dependencies(test_publisher ${PROJECT_NAME}_generate_messages_cpp)

install(TARGETS test_publisher
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

package.xml

<package>
  <name>driving_msgs</name>
  <version>0.0.0</version>
  <description>The driving_msgs package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="pi@todo.todo">pi</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://ros.org/wiki/driving_msgs</url> -->


  <!-- Author tags are optional, mutiple are allowed, one per tag -->
  <!-- Authors do not have to be maintianers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *_depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use run_depend for packages you need at runtime: -->
  <!--   <run_depend>message_runtime</run_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>message_generation</build_depend>
  <build_depend>roscpp</build_depend>
  <run_depend>message_runtime</run_depend>

  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- You can specify that this package is a metapackage here: -->
    <!-- <metapackage/> -->

    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

SensorStates.msg

float32 wheel_angle
float32 gas
float32 brake
float32 vibration

test_publisher.cpp

#include <ros/ros.h>
#include <driving_msgs/SensorStates.h>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "test_publisher");
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<driving_msgs::SensorStates>("test", 1000);

  driving_msgs::SensorStates msg;

  ros::Rate loop_rate(1000);
  while(ros::ok())
    {
      pub.publish(msg);
      loop_rate.sleep();
    }

  return 0;
}