File content as of revision 0:858c61a9c2de:

#include "mbed.h"
#include "Servo.h"

#include <ros.h>
#include "std_msgs/Bool.h"

#define BAUD_RATE 115200

using namespace std;
using namespace std_msgs;
using namespace ros;

DigitalOut myled = LED1;
DigitalOut Refer_Volt_3_3 = PB_1;
DigitalOut pin_A = PA_10;
DigitalOut pin_B = PA_2;
DigitalOut pin_C = PA_3;

NodeHandle nh;

Servo servo = D6;

void messagesqu(const Bool& _msg){
    bool check = _msg.data;
    if(check)
        pin_A = 1;
    else
        pin_A = 0;
}

void messagecro(const Bool& _msg){
    bool check = _msg.data;
    if(check)
        pin_B = 1;
    else
        pin_B = 0;
}

void messagecir(const Bool& _msg){
    bool check = _msg.data;
    if(check)
        servo = 1.0;
    else
        servo = 0;
}

void messagetri(const Bool& _msg){
    bool check = _msg.data;
    if(check)
        pin_C = 1;
    else
        pin_C = 0;
}

Subscriber<Bool> subsqu("button_square", &messagesqu);
Subscriber<Bool> subcro("button_cross", &messagecro);
Subscriber<Bool> subcir("button_circle", &messagecir);
Subscriber<Bool> subtri("button_triangle", &messagetri);


int main() {
    myled = 0;
    servo = 0;
    
    nh.getHardware()->setBaud(BAUD_RATE);
    nh.initNode();
    
    nh.subscribe(subsqu);
    nh.subscribe(subcro);
    nh.subscribe(subcir);
    nh.subscribe(subtri);
    
    while(true) {
        nh.spinOnce();
        
        if(nh.connected())
            myled = 1;
        else
            myled = 0;
    }
}