From e1f8cc0c56dd1a9543e96f48e0de8960877296ff Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dthomas@osrfoundation.org>
Date: Mon, 25 Aug 2014 11:57:15 -0700
Subject: [PATCH] add message with constant values for all primitive types

---
 simple_msgs/CMakeLists.txt                |  1 +
 simple_msgs/msg/AllPrimitiveConstants.msg | 14 ++++++++++++++
 simple_msgs/msg/AllStaticArrayTypes.msg   |  8 ++++----
 simple_msgs/msg/String.msg                |  3 ++-
 userland/src/publisher.cpp                |  3 ++-
 5 files changed, 23 insertions(+), 6 deletions(-)
 create mode 100644 simple_msgs/msg/AllPrimitiveConstants.msg

diff --git a/simple_msgs/CMakeLists.txt b/simple_msgs/CMakeLists.txt
index ca0c5297..330e5dd2 100644
--- a/simple_msgs/CMakeLists.txt
+++ b/simple_msgs/CMakeLists.txt
@@ -9,6 +9,7 @@ find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/AllDynamicArrayTypes.msg"
+  "msg/AllPrimitiveConstants.msg"
   "msg/AllPrimitiveTypes.msg"
   "msg/AllStaticArrayTypes.msg"
   "msg/Int32.msg"
diff --git a/simple_msgs/msg/AllPrimitiveConstants.msg b/simple_msgs/msg/AllPrimitiveConstants.msg
new file mode 100644
index 00000000..cbc7e240
--- /dev/null
+++ b/simple_msgs/msg/AllPrimitiveConstants.msg
@@ -0,0 +1,14 @@
+bool MY_BOOL=1
+byte MY_BYTE=42
+char MY_CHAR=43
+float32 MY_FLOAT32=3.14
+float64 MY_FLOAT64=3.1415
+int8 MY_INT8=-128
+uint8 MY_UINT8=255
+int16 MY_INT16=-32768
+uint16 MY_UINT16=65535
+int32 MY_INT32=5
+uint32 MY_UINT32=6
+int64 MY_INT64=7
+uint64 MY_UINT64=8
+string MY_STRING=' f o o '
diff --git a/simple_msgs/msg/AllStaticArrayTypes.msg b/simple_msgs/msg/AllStaticArrayTypes.msg
index e1f895df..ac9c4b14 100644
--- a/simple_msgs/msg/AllStaticArrayTypes.msg
+++ b/simple_msgs/msg/AllStaticArrayTypes.msg
@@ -1,7 +1,7 @@
-bool[6] my_bool
-byte[6] my_byte
+bool[6] my_bool [0,1,0,1,0,1]
+byte[6] my_byte [ 1 , 0 , 1 , 0 , 1 ,0]
 char[6] my_char
-float32[6] my_float32
+float32[6] my_float32  [1.2,3.4,5.6,7.8,9.0,0.1]
 float64[6] my_float64
 int8[6] my_int8
 uint8[6] my_uint8
@@ -11,4 +11,4 @@ int32[6] my_int32
 uint32[6] my_uint32
 int64[6] my_int64
 uint64[6] my_uint64
-string[6] my_string
+string<=2[6] my_string
diff --git a/simple_msgs/msg/String.msg b/simple_msgs/msg/String.msg
index ae721739..f673862b 100644
--- a/simple_msgs/msg/String.msg
+++ b/simple_msgs/msg/String.msg
@@ -1 +1,2 @@
-string data
+string<=1000 data
+string<=1000 data2
diff --git a/userland/src/publisher.cpp b/userland/src/publisher.cpp
index ba2f5ddc..037d610f 100644
--- a/userland/src/publisher.cpp
+++ b/userland/src/publisher.cpp
@@ -35,7 +35,7 @@ int publish(rclcpp::Node* node, void (*set_data_func)(T&, uint32_t))
       std::cout << "published ros msg #" << i << std::endl;
     // }
     ++i;
-    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
   }
   auto end = std::chrono::steady_clock::now();
 
@@ -134,6 +134,7 @@ void set_nested(simple_msgs::Nested& ros_msg, uint32_t i)
 
 void set_string(simple_msgs::String& ros_msg, uint32_t i)
 {
+  i = pow(2, i) - 1;
   ros_msg.data = "";
   for (uint64_t j = i; j < 2 * i; ++j) {
     ros_msg.data += std::to_string(j % 10);