Soft robot team / Mbed 2 deprecated ros_blinky_sub

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Dependencies:   mbed ros_lib_kinetic

main.cpp@0:bd7941d8c490, 2019-10-16 (annotated)

Committer:
scarter1
Date:
Wed Oct 16 09:18:47 2019 +0000
Revision:
0:bd7941d8c490
ros blinky example;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:bd7941d8c490 1 /*
scarter1 0:bd7941d8c490 2 * rosserial Subscriber Example
scarter1 0:bd7941d8c490 3 * Blinks an LED on callback
scarter1 0:bd7941d8c490 4 */
scarter1 0:bd7941d8c490 5 #include "mbed.h"
scarter1 0:bd7941d8c490 6 #include <ros.h>
scarter1 0:bd7941d8c490 7 #include <std_msgs/Empty.h>
scarter1 0:bd7941d8c490 8
scarter1 0:bd7941d8c490 9 ros::NodeHandle nh;
scarter1 0:bd7941d8c490 10 DigitalOut myled(LED1);
scarter1 0:bd7941d8c490 11
scarter1 0:bd7941d8c490 12 void messageCb(const std_msgs::Empty& toggle_msg){
scarter1 0:bd7941d8c490 13 myled = !myled; // blink the led
scarter1 0:bd7941d8c490 14 }
scarter1 0:bd7941d8c490 15
scarter1 0:bd7941d8c490 16 ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb);
scarter1 0:bd7941d8c490 17
scarter1 0:bd7941d8c490 18 int main() {
scarter1 0:bd7941d8c490 19 nh.initNode();
scarter1 0:bd7941d8c490 20 nh.subscribe(sub);
scarter1 0:bd7941d8c490 21
scarter1 0:bd7941d8c490 22 while (1) {
scarter1 0:bd7941d8c490 23 nh.spinOnce();
scarter1 0:bd7941d8c490 24 wait_ms(1);
scarter1 0:bd7941d8c490 25 }
scarter1 0:bd7941d8c490 26 }