Logging.cpp

00001 //#define COMPILE_LOGGING_CODE_ROSSERIAL
00002 #ifdef  COMPILE_LOGGING_CODE_ROSSERIAL
00003 
00004 /*
00005  * rosserial PubSub Example
00006  * Prints "hello world!" and toggles led
00007  */
00008 
00009 #include <ros.h>
00010 #include <std_msgs/String.h>
00011 #include <std_msgs/Empty.h>
00012 
00013 ros::NodeHandle  nh;
00014 
00015 std_msgs::String str_msg;
00016 ros::Publisher chatter("chatter", &str_msg);
00017 
00018 char hello[13] = "hello world!";
00019 
00020 char debug[]= "debug statements";
00021 char info[] = "infos";
00022 char warn[] = "warnings";
00023 char error[] = "errors";
00024 char fatal[] = "fatalities";
00025 
00026 int main() {
00027     nh.initNode();
00028     nh.advertise(chatter);
00029 
00030     while (1) {
00031         str_msg.data = hello;
00032         chatter.publish( &str_msg );
00033 
00034         nh.logdebug(debug);
00035         nh.loginfo(info);
00036         nh.logwarn(warn);
00037         nh.logerror(error);
00038         nh.logfatal(fatal);
00039 
00040         nh.spinOnce();
00041         wait_ms(500);
00042     }
00043 }
00044 
00045 #endif