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Dependencies:   mbed ros_lib_kinetic

publisherExample.cpp@9:b27a26e1ae55, 2019-12-12 (annotated)

Committer:
BenRJG
Date:
Thu Dec 12 19:51:42 2019 +0000
Revision:
9:b27a26e1ae55
Ben's Guidelines for code modification

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BenRJG 9:b27a26e1ae55 1 // Changed text
BenRJG 9:b27a26e1ae55 2
BenRJG 9:b27a26e1ae55 3 ///////////////////////////////////////////////////////////////////
BenRJG 9:b27a26e1ae55 4 // Beginning of code
BenRJG 9:b27a26e1ae55 5 ///////////////////////////////////////////////////////////////////
BenRJG 9:b27a26e1ae55 6 #include "timeofflight.hpp"
BenRJG 9:b27a26e1ae55 7
BenRJG 9:b27a26e1ae55 8 Serial pc(SERIAL_TX, SERIAL_RX);// set-up serial to pc
BenRJG 9:b27a26e1ae55 9 #define addr (0x52) // I²C address of VL6180 shifted by 1 bit
BenRJG 9:b27a26e1ae55 10
BenRJG 9:b27a26e1ae55 11 VL6180 tof1(addr);
BenRJG 9:b27a26e1ae55 12
BenRJG 9:b27a26e1ae55 13 #include <ros.h>
BenRJG 9:b27a26e1ae55 14 #include <std_msgs/String.h>
BenRJG 9:b27a26e1ae55 15
BenRJG 9:b27a26e1ae55 16 ros::NodeHandle node_chatter;
BenRJG 9:b27a26e1ae55 17
BenRJG 9:b27a26e1ae55 18 std_msgs::String str_msg;
BenRJG 9:b27a26e1ae55 19 ros::Publisher chatter("chatter", &str_msg);
BenRJG 9:b27a26e1ae55 20
BenRJG 9:b27a26e1ae55 21 char data[13];
BenRJG 9:b27a26e1ae55 22
BenRJG 9:b27a26e1ae55 23
BenRJG 9:b27a26e1ae55 24
BenRJG 9:b27a26e1ae55 25 ///////////////////////////////////////////////////////////////////
BenRJG 9:b27a26e1ae55 26 // Main Program loop
BenRJG 9:b27a26e1ae55 27 ///////////////////////////////////////////////////////////////////
BenRJG 9:b27a26e1ae55 28 int main()
BenRJG 9:b27a26e1ae55 29 {
BenRJG 9:b27a26e1ae55 30 node_chatter.initNode();
BenRJG 9:b27a26e1ae55 31 node_chatter.advertise(chatter);
BenRJG 9:b27a26e1ae55 32
BenRJG 9:b27a26e1ae55 33 pc.printf("test\r\n");
BenRJG 9:b27a26e1ae55 34 int range;
BenRJG 9:b27a26e1ae55 35
BenRJG 9:b27a26e1ae55 36 // load settings onto VL6180X
BenRJG 9:b27a26e1ae55 37 tof1.Init();
BenRJG 9:b27a26e1ae55 38 while (1){
BenRJG 9:b27a26e1ae55 39 range = tof1.Get_Range();
BenRJG 9:b27a26e1ae55 40
BenRJG 9:b27a26e1ae55 41 // send range to pc by serial
BenRJG 9:b27a26e1ae55 42 sprintf(data, "Distance: %dmm", range);
BenRJG 9:b27a26e1ae55 43
BenRJG 9:b27a26e1ae55 44 str_msg.data = data;
BenRJG 9:b27a26e1ae55 45 chatter.publish( &str_msg );
BenRJG 9:b27a26e1ae55 46 node_chatter.spinOnce();
BenRJG 9:b27a26e1ae55 47 wait_ms(1000);
BenRJG 9:b27a26e1ae55 48 }
BenRJG 9:b27a26e1ae55 49 }