26 lines
563 B
C++
26 lines
563 B
C++
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#include <unitree/robot/channel/channel_publisher.hpp>
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#include <unitree/common/time/time_tool.hpp>
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#include "HelloWorldData.hpp"
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#define TOPIC "TopicHelloWorld"
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using namespace unitree::robot;
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using namespace unitree::common;
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int main()
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{
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ChannelFactory::Instance()->Init(0);
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ChannelPublisher<HelloWorldData::Msg> publisher(TOPIC);
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publisher.InitChannel();
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while (true)
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{
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HelloWorldData::Msg msg(unitree::common::GetCurrentTimeMillisecond(), "HelloWorld.");
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publisher.Write(msg);
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sleep(1);
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}
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return 0;
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}
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