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 "cells": [
  {
   "cell_type": "markdown",
   "id": "f11b455a",
   "metadata": {},
   "source": [
    "# The Tutorial shows demonstration of Asynchronous ROS Publisher.\n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "67b2e9b0",
   "metadata": {},
   "source": [
    "### Step 1 - Get the required header files to run ROS\n",
    "\n",
    "NOTE :- Run roscore in on of the other terminal before starting the tutorial to start rosmaster."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "ed60fae6-df8d-4df7-b2db-f3d5f68e7e88",
   "metadata": {},
   "outputs": [],
   "source": [
    "! python3 ../scripts/generate_cling_3rd_party.py roscpp"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "c7638c6f",
   "metadata": {},
   "source": [
    "### Step 2 - Load ROS and Boost libraries."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "4fac76ce-8c53-4469-b310-9da425cd9d17",
   "metadata": {},
   "outputs": [],
   "source": [
    "#include \"load_roscpp.h\""
   ]
  },
  {
   "cell_type": "markdown",
   "id": "5714cfb0",
   "metadata": {},
   "source": [
    "### Step 3 - Load ROS Publisher."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "54137c9b-d873-4338-90de-18d4f84b8d5f",
   "metadata": {
    "tags": []
   },
   "outputs": [],
   "source": [
    "#include \"jupyter_ros_utils/ros1_publisher.hpp\""
   ]
  },
  {
   "cell_type": "markdown",
   "id": "73547d44",
   "metadata": {},
   "source": [
    "### Step 4 - Initialize ROS Spinner and start publisher\n",
    "This widget will use publish data using pub_callback and show it in the stream"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "7f5062d6-4b53-4575-a65d-3e5c09d0f7a7",
   "metadata": {},
   "outputs": [],
   "source": [
    "ros_init(\"cpp_ros_async_callback_publisher\");"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "afafb8ef-0230-4fd0-a315-f4bb61175b3b",
   "metadata": {},
   "outputs": [],
   "source": [
    "#include <std_msgs/UInt32.h>\n",
    "\n",
    "uint32_t data = 0;"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "9fd6a7b3-8b2c-48be-88e5-23f20f063a57",
   "metadata": {},
   "outputs": [],
   "source": [
    "std_msgs::UInt32 pub_callback() {\n",
    "    std_msgs::UInt32 msg;\n",
    "    msg.data = data;\n",
    "    ++data;\n",
    "    ROS_INFO(\"%d\", data);\n",
    "    \n",
    "    return msg;\n",
    "}"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "ef4a5f5e-3366-49bc-9718-e81968f63a61",
   "metadata": {},
   "outputs": [],
   "source": [
    "ZeusPublisher pub(\"/magic/uint\", pub_callback);"
   ]
  }
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