public static void Main(string[] args)
{
Context ctx = new Context();
Rclcs.Init(ctx);
INode node = Rclcs.CreateNode("talker", ctx);
IPublisher <std_msgs.msg.String> chatter_pub = node.CreatePublisher <std_msgs.msg.String>("chatter");
std_msgs.msg.String msg = new std_msgs.msg.String();
int i = 1;
while (Rclcs.Ok(ctx))
{
// adamdbrw - if no at least small sleep is made before
// the first published message, it doesn't reach subscribers
// Needs investigation for how to put a valid check here
// TODO (adam) replace with a proper check
Thread.Sleep(500);
msg.Data = "Hello World: " + i;
i++;
Console.WriteLine("Publishing: \"" + msg.Data + "\"");
chatter_pub.Publish(msg);
Thread.Sleep(500);
}
Rclcs.Shutdown(ctx);
}