func main() {
node := ros.NewNode("/listener")
defer node.Shutdown()
node.Logger().SetSeverity(ros.LogLevelDebug)
node.NewSubscriber("/chatter", rosgo_tests.MsgHello, callback)
node.Spin()
}
func main() {
node := ros.NewNode("/test_param")
defer node.Shutdown()
if hasParam, err := node.HasParam("/rosdistro"); err != nil {
log.Fatal(err)
} else {
if !hasParam {
log.Fatal("HasParam() failed.")
}
}
if foundKey, err := node.SearchParam("/rosdistro"); err != nil {
log.Fatal(err)
} else {
if foundKey != "/rosdistro" {
log.Fatal("SearchParam() failed.")
}
}
if param, err := node.GetParam("/rosdistro"); err != nil {
log.Fatal(err)
} else {
if value, ok := param.(string); !ok {
log.Fatal("GetParam() failed.")
} else {
if value != "groovy\n" {
log.Fatalf("Expected 'groovy\\n' but '%s'", value)
}
}
}
if err := node.SetParam("/test_param", 42); err != nil {
log.Fatal(err)
}
if param, err := node.GetParam("/test_param"); err != nil {
log.Fatal(err)
} else {
if value, ok := param.(int32); ok {
if value != 42 {
log.Fatalf("Expected 42 but %d", value)
}
} else {
log.Fatal("GetParam('/test_param') failed.")
}
}
if err := node.DeleteParam("/test_param"); err != nil {
log.Fatal(err)
}
log.Print("Success")
}
func main() {
node := ros.NewNode("server")
defer node.Shutdown()
logger := node.Logger()
logger.SetSeverity(ros.LogLevelDebug)
server := node.NewServiceServer("/add_two_ints", rosgo_tests.SrvAddTwoInts, callback)
if server == nil {
fmt.Println("Failed to initialize '/add_two_ints' service server")
os.Exit(1)
}
defer server.Shutdown()
node.Spin()
}
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 main() {
if len(os.Args) != 3 {
fmt.Print("USAGE: test_client <int> <int>")
os.Exit(1)
}
node := ros.NewNode("client")
defer node.Shutdown()
logger := node.Logger()
logger.SetSeverity(ros.LogLevelDebug)
cli := node.NewServiceClient("/add_two_ints", rosgo_tests.SrvAddTwoInts)
defer cli.Shutdown()
var err error
var a, b int64
a, err = strconv.ParseInt(os.Args[1], 10, 32)
if err != nil {
fmt.Print(err)
fmt.Println()
os.Exit(1)
}
b, err = strconv.ParseInt(os.Args[2], 10, 32)
if err != nil {
fmt.Print(err)
fmt.Println()
os.Exit(1)
}
var srv rosgo_tests.AddTwoInts
srv.Request.A = int32(a)
srv.Request.B = int32(b)
if err := cli.Call(&srv); err != nil {
fmt.Print(err)
fmt.Println()
} else {
fmt.Printf("%d + %d = %d",
srv.Request.A, srv.Request.B, srv.Response.Sum)
fmt.Println()
}
}