VNH ROSSERIAL PUB+SUB
Dependencies: Motordriver QEI mbed ros_lib_kinetic
Fork of Test by
main.cpp
- Committer:
- apriljunio
- Date:
- 2018-07-13
- Revision:
- 0:99538487421b
- Child:
- 1:5f2cb6bc0a8e
File content as of revision 0:99538487421b:
#include "mbed.h" #include "motordriver.h" #include "ros.h" #include "geometry_msgs/Vector3.h" //pwm, fwd, rev, can brake Motor motorLeft(D9,D5,D4, 1); Motor motorRight(D10, D7, D8, 1); ros:: NodeHandle nh; void messageCb( const geometry_msgs::Vector3& msg) { while (true) { for (float s=-msg.x; s < msg.x ; s += 0.01f) { motorLeft.speed(s); motorRight.speed(s); wait(0.005);} } } ros::Subscriber<geometry_msgs::Vector3> sub("/motor/command", &messageCb ); int main() { nh.initNode(); nh.subscribe(sub); while (true) { nh.spinOnce(); wait_ms(1); } }