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add publishing message

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Sem van der Hoeven
2023-04-24 12:10:34 +02:00
parent fd83eb616a
commit e8ecc7eac4
1 changed files with 10 additions and 13 deletions
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23
src/object_detection/src/multiflex_reader.cpp
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@@ -15,18 +15,6 @@ using terabee::DistanceData;
using namespace std::chrono_literals;
std::ostream &operator<<(std::ostream &os, const DistanceData &d)
{
os << "[";
for (size_t i = 0; i < d.distance.size(); i++)
{
os << d.distance[i] << ", ";
}
os << "\b\b"
<< " ]";
return os;
}
class MultiflexReader : public rclcpp::Node
{
public:
@@ -56,19 +44,28 @@ public:
RCLCPP_INFO(this->get_logger(), "Multiflex initialized");
publisher_ = this->create_publisher<object_detection::msg::MultiflexReading>("drone/object_detection", 10);
timer_ = this->create_wall_timer(500ms, std::bind(&MultiflexReader::read_multiflex_data, this));
}
private:
void read_multiflex_data()
{
std::cout << "Distance = " << multiflex->getDistance() << std::endl;
terabee::DistanceData data = multiflex->getDistance();
auto msg = object_detection::msg::MultiflexReading();
for (int i = 0; i < data.size(); i++)
{
msg.distance_data[i] = data.distance[i];
}
publisher_->publish(msg);
}
std::unique_ptr<terabee::ITerarangerFactory> factory;
std::unique_ptr<terabee::ITerarangerMultiflex> multiflex;
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Publisher<object_detection::msg::MultiflexReading>::SharedPtr publisher_;
};
int main(int argc, char *argv[])