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- #include "ros/ros.h"
- #include "std_msgs/String.h"
- #include <sstream>
- int main(int argc, char **argv)
- {
- ros::init(argc, argv, "talker");
- ros::NodeHandle n;
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
- int count = 0;
- while (ros::ok())
- {
- std_msgs::String msg;
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
- ROS_INFO("%s", msg.data.c_str());
- chatter_pub.publish(msg);
- ros::spinOnce();
- loop_rate.sleep();
- ++count;
- }
- return 0;
- }
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