rclnodejs/test_repro_pub.js

ROS2.0 JavaScript client with Node.js

// Publisher for repro test - runs in separate process
'use strict';

const rclnodejs = require('./index.js');

const PUBLISH_HZ = parseInt(process.argv[2] || '100');

async function main() {
  await rclnodejs.init();

  const node = new rclnodejs.Node('test_publisher_node');
  const publisher = node.createPublisher(
    'std_msgs/msg/Float64MultiArray',
    '/test_hz_topic'
  );

  node.spin();

  let pubCount = 0;
  console.log(`Publishing at ${PUBLISH_HZ} Hz...`);

  const pubInterval = setInterval(() => {
    publisher.publish({ data: [1.0, 2.0, 3.0] });
    pubCount++;
  }, 1000 / PUBLISH_HZ);

  setTimeout(() => {
    clearInterval(pubInterval);
    console.log(`Published ${pubCount} messages total`);
    node.stop();
    rclnodejs.shutdown();
    process.exit(0);
  }, 15000);
}

main().catch(console.error);