63 lines
1.8 KiB
C++
63 lines
1.8 KiB
C++
/*
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* Copyright (C) 2017 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <gazebo/msgs/msgs.hh>
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#include <gazebo/transport/transport.hh>
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#include <gazebo/util/Diagnostics.hh>
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#include <gazebo/gazebo_client.hh>
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#include <iostream>
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/////////////////////////////////////////////////
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// Function is called everytime a message is received.
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void cb(ConstWorldStatisticsPtr &_msg)
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{
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DIAG_TIMER_STOP("example_world_stats")
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// Dump the message contents to stdout.
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std::cout << _msg->DebugString();
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DIAG_TIMER_START("example_world_stats")
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}
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/////////////////////////////////////////////////
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int main(int _argc, char **_argv)
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{
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// Load gazebo
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gazebo::client::setup(_argc, _argv);
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// Create our node for communication
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gazebo::transport::NodePtr node(new gazebo::transport::Node());
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node->Init();
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// Start the diagnostic timer
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DIAG_TIMER_START("example_world_stats")
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// Listen to Gazebo world_stats topic
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gazebo::transport::SubscriberPtr sub = node->Subscribe("~/world_stats", cb);
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// Wait for 3 seconds
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for (int i = 0; i < 3000; ++i)
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{
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gazebo::common::Time::MSleep(1);
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}
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// Start the diagnostic timer
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DIAG_TIMER_STOP("example_world_stats")
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// Make sure to shut everything down.
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gazebo::client::shutdown();
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}
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