Merge pull request #236 from anrp-tri/anrp/info

Publish audio_info on a schedule
ros-drivers · Feb 29, 2024 · 8ed82e4 · 8ed82e4
2 parents e4b7087 + 4d9b198
commit 8ed82e4
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/audio_capture/src/audio_capture_node.cpp b/audio_capture/src/audio_capture_node.cpp
@@ -166,6 +166,12 @@ namespace audio_capture
 
         _gst_thread = boost::thread( boost::bind(g_main_loop_run, _loop) );
 
+        _timer_info = rclcpp::create_timer(this, get_clock(), std::chrono::seconds(5), [this] { publishInfo(); });
+        publishInfo();
+      }
+
+      void publishInfo() {
+
         audio_common_msgs::msg::AudioInfo info_msg;
         info_msg.channels = _channels;
         info_msg.sample_rate = _sample_rate;
@@ -249,6 +255,8 @@ namespace audio_capture
       rclcpp::Publisher<audio_common_msgs::msg::AudioDataStamped>::SharedPtr _pub_stamped;
       rclcpp::Publisher<audio_common_msgs::msg::AudioInfo>::SharedPtr _pub_info;
 
+      rclcpp::TimerBase::SharedPtr _timer_info;
+
       boost::thread _gst_thread;
 
       GstElement *_pipeline, *_source, *_filter, *_sink, *_convert, *_encode;