25 lines
735 B
Rust
25 lines
735 B
Rust
#[tokio::main]
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async fn main() -> Result<(), Box<dyn std::error::Error>> {
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let ctx = r2r::Context::create()?;
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let mut node = r2r::Node::create(ctx, "testnode", "")?;
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let duration = std::time::Duration::from_millis(2500);
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let mut timer = node.create_wall_timer(duration)?;
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let publisher = node.create_publisher::<r2r::std_msgs::msg::String>("/topic")?;
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let handle = tokio::task::spawn_blocking(move || loop {
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node.spin_once(std::time::Duration::from_millis(100));
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});
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for _ in 1..10 {
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timer.tick().await?;
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let msg = r2r::std_msgs::msg::String {
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data: "hello from r2r".to_string(),
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};
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publisher.publish(&msg)?;
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}
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handle.await?;
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Ok(())
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}
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