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IHMC Pub Sub Generator
There is a newer version: 1.1.5
package us.ihmc.pubsub.test;

import com.eprosima.xmlschemas.fastrtps_profiles.DurabilityQosKindPolicyType;
import com.eprosima.xmlschemas.fastrtps_profiles.HistoryQosKindPolicyType;
import com.eprosima.xmlschemas.fastrtps_profiles.PublishModeQosKindPolicyType;
import com.eprosima.xmlschemas.fastrtps_profiles.ReliabilityQosKindPolicyType;
import us.ihmc.idl.generated.chat.ChatMessage;
import us.ihmc.idl.generated.chat.ChatMessagePubSubType;
import us.ihmc.pubsub.Domain;
import us.ihmc.pubsub.DomainFactory;
import us.ihmc.pubsub.attributes.ParticipantProfile;
import us.ihmc.pubsub.attributes.PublisherAttributes;
import us.ihmc.pubsub.common.LogLevel;
import us.ihmc.pubsub.common.MatchingInfo;
import us.ihmc.pubsub.common.Time;
import us.ihmc.pubsub.participant.Participant;
import us.ihmc.pubsub.participant.ParticipantDiscoveryInfo;
import us.ihmc.pubsub.participant.ParticipantListener;
import us.ihmc.pubsub.publisher.Publisher;
import us.ihmc.pubsub.publisher.PublisherListener;

import java.io.IOException;
import java.util.Collections;

public class AggressivePublisher
{
   public AggressivePublisher() throws IOException
   {
      Domain domain = DomainFactory.getDomain();

      domain.setLogLevel(LogLevel.INFO);

      ParticipantProfile attributes = ParticipantProfile.create()
                                                        .domainId(215)
                                                        .useOnlyIntraProcessDelivery()
                                                        .discoveryLeaseDuration(Time.Infinite)
                                                        .name("AggressivePublisher");

      Participant participant = domain.createParticipant(attributes, new ParticipantListenerImpl());

      ChatMessagePubSubType dataType = new ChatMessagePubSubType();
      domain.registerType(participant, dataType);

      // Mimic ROS 2 default settings

      PublisherAttributes genericPublisherAttributes = PublisherAttributes.create()
       .topicDataType(dataType)
       .topicName("segfault_trigger")
       .reliabilityKind(ReliabilityQosKindPolicyType.RELIABLE)
       .partitions(Collections.singletonList("us/ihmc"))
       .durabilityKind(DurabilityQosKindPolicyType.VOLATILE)
       .historyQosPolicyKind(HistoryQosKindPolicyType.KEEP_LAST)
       .historyDepth(1)
       .publishModeKind(PublishModeQosKindPolicyType.ASYNCHRONOUS);

      Publisher publisher = domain.createPublisher(participant, genericPublisherAttributes, new PublisherListenerImpl());

      ChatMessage msg = new ChatMessage();
      msg.setSender("Java");
      String longMessage = "AReallyLongStringIGuessOkayMaybeItsNotLikeThatLongButWhateverItGetsTheJobDoneMaybe";
      msg.setMsg(longMessage);

      int i = 0;
      while (true)
      {
         msg.setSender("Hello World " + (i++));
         msg.setMsg(longMessage);
         publisher.write(msg);
         
         // Publish as fast as possible
      }
   }
   
   private class ParticipantListenerImpl implements ParticipantListener
   {
      @Override
      public void onParticipantDiscovery(Participant participant, ParticipantDiscoveryInfo info)
      {
         System.out.println("New participant discovered");
         System.out.println("Status: " + info.getStatus());
         System.out.println("Guid: " + info.getGuid().toString());
         System.out.println("Name: " + info.getName());
      }
   }

   private class PublisherListenerImpl implements PublisherListener
   {
      @Override
      public void onPublicationMatched(Publisher publisher, MatchingInfo info)
      {
         System.out.println("New subscriber matched");
         System.out.println("Status: " + info.getStatus());
         System.out.println("Guid: " + info.getGuid().toString());
      }
   }

   public static void main(String[] args) throws IOException
   {
      new AggressivePublisher();
   }
}