text: #include "hello_world_ros.h"
  
  using namespace std;
  using namespace ros;
  
  HelloWorldRos::HelloWorldRos()
  {
    strHello_ = "Hello, ROS world!";
  }
  
  HelloWorldRos::~HelloWorldRos()
  {
  }
  
  void HelloWorldRos::MainLoop()
  {
    HelloFunction(strHello_);
  }
  
  void HelloWorldRos::HelloFunction(string strIn)
  {
    // default rate
    ROS_INFO("info %s", strIn.c_str());
    ROS_DEBUG("debug %s", strIn.c_str());
    ROS_WARN("warn %s", strIn.c_str());
    ROS_ERROR("error %s", strIn.c_str());
    ROS_FATAL("fatal %s", strIn.c_str());
  
    // delayed rate (higher value is slow printing performance)
    // ROS_INFO_DELAYED_THROTTLE(5, "delayed info %s", strIn.c_str());
    // ROS_DEBUG_DELAYED_THROTTLE(5, "delayed debug %s", strIn.c_str());
    // ROS_WARN_DELAYED_THROTTLE(5, "delayed warn %s", strIn.c_str());
    // ROS_ERROR_DELAYED_THROTTLE(5, "delayed error %s", strIn.c_str());
    // ROS_FATAL_DELAYED_THROTTLE(5, "delayed fatal %s", strIn.c_str());
  }