#include "ros/ros.h"
#include "std_msgs/Float32.h"
#include <sstream>
#include <iostream>
#include "std_msgs/UInt8MultiArray.h"
#include "std_msgs/MultiArrayDimension.h"
using namespace std;
int main(int argc, char **argv)
{
ros::init(argc, argv, "talker");
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise<std_msgs::UInt8MultiArray>("chatter", 1000);
ros::Rate loop_rate(10);
while (ros::ok())
{
std_msgs::MultiArrayLayout msg;
const unsigned int data_sz = 10;
std_msgs::UInt8MultiArray m;
m.layout.dim.push_back(std_msgs::MultiArrayDimension());
m.layout.dim[0].size = data_sz;
m.layout.dim[0].stride = 1;
m.layout.dim[0].label = "bla";
cout<<"==========================="<<endl;
// only needed if you don't want to use push_back
m.data.resize(data_sz);
m.data[0] = 2;
m.data[1] = 1;
chatter_pub.publish(m);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
std_msgs::UInt8MultiArray发布数组
最新推荐文章于 2024-06-18 14:27:53 发布