ROBOSTEP4期 / Mbed 2 deprecated NHK_kaida_ros0329

射出(3/29用)

Dependencies:   mbed ros_lib_kinetic

Fork of NHK_kaida_ros0322_4 by ROBOSTEP4期

main.cpp@0:f6fa58c56955, 2017-06-02 (annotated)

Committer:
agari
Date:
Fri Jun 02 14:34:33 2017 +0000
Revision:
0:f6fa58c56955
Child:
1:5dd2f53a286f
lrf_ros_mbed;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
agari 0:f6fa58c56955 1 #include <mbed.h>
agari 0:f6fa58c56955 2 #include <ros.h>
agari 0:f6fa58c56955 3 #include <std_msgs/String.h>
agari 0:f6fa58c56955 4 #include <geometry_msgs/PoseStamped.h>
agari 0:f6fa58c56955 5
agari 0:f6fa58c56955 6 ros::NodeHandle nh;
agari 0:f6fa58c56955 7 geometry_msgs::Pose pose;
agari 0:f6fa58c56955 8 void messageCallback(const geometry_msgs::PoseStamped & msg){
agari 0:f6fa58c56955 9 pose=msg.pose;
agari 0:f6fa58c56955 10 printf("I GOT [%f],[%f],[%f]",pose.position.x,pose.position.y,pose.position.z);
agari 0:f6fa58c56955 11 }
agari 0:f6fa58c56955 12
agari 0:f6fa58c56955 13
agari 0:f6fa58c56955 14 int main(int argc, char **argv){
agari 0:f6fa58c56955 15 nh.initNode();
agari 0:f6fa58c56955 16 ros::NodeHandle nh;
agari 0:f6fa58c56955 17 ros::Subscriber<geometry_msgs::PoseStamped> sub("lrf_pose",&messageCallback);
agari 0:f6fa58c56955 18 while(1){
agari 0:f6fa58c56955 19 nh.spinOnce();
agari 0:f6fa58c56955 20 wait_ms(1000);
agari 0:f6fa58c56955 21 }
agari 0:f6fa58c56955 22 }