func main() {
node := ros.NewNode("/talker")
defer node.Shutdown()
node.Logger().SetSeverity(ros.LogLevelDebug)
pub := node.NewPublisherWithCallbacks("/chatter", rosgo_tests.MsgHello, onConnect, onDisconnect)
for node.OK() {
node.SpinOnce()
var msg rosgo_tests.Hello
msg.Data = fmt.Sprintf("hello %s", time.Now().String())
fmt.Println(msg.Data)
pub.Publish(&msg)
time.Sleep(time.Second)
}
}
func onConnect(pub ros.SingleSubscriberPublisher) {
fmt.Printf("-------Connect callback: node %s topic %s\n", pub.GetSubscriberName(), pub.GetTopic())
var msg rosgo_tests.Hello
msg.Data = fmt.Sprintf("hello %s", pub.GetSubscriberName())
pub.Publish(&msg)
}