Fernando Lopez / Mbed 2 deprecated rosserial_mbed_PublisherSubscriber_Example

Example of a Publisher and Subscriber ROS nodes for Mbed enable board using Twist messages.

Dependencies:   mbed ros_lib_kinetic

main.cpp@1:fb8f963047b0, 2018-08-13 (annotated)

Committer:
FernandoLG
Date:
Mon Aug 13 19:25:13 2018 +0000
Revision:
1:fb8f963047b0
Parent:
0:2595562b0c61 
Example of Publisher Subscriber node for Mbed boards using ROS Twist messages.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
FernandoLG 0:2595562b0c61 1 /*
FernandoLG 0:2595562b0c61 2 * rosserial Subscriber Example
FernandoLG 0:2595562b0c61 3 * Blinks an LED on callback
FernandoLG 0:2595562b0c61 4 */
FernandoLG 0:2595562b0c61 5 #include "mbed.h"
FernandoLG 0:2595562b0c61 6 #include <ros.h>
FernandoLG 1:fb8f963047b0 7 #include <geometry_msgs/Twist.h>
FernandoLG 0:2595562b0c61 8
FernandoLG 0:2595562b0c61 9 ros::NodeHandle nh;
FernandoLG 0:2595562b0c61 10 DigitalOut myled(LED1);
FernandoLG 0:2595562b0c61 11
FernandoLG 1:fb8f963047b0 12 geometry_msgs::Twist commandRead;
FernandoLG 0:2595562b0c61 13 ros::Publisher chatter("chatter", &commandRead);
FernandoLG 0:2595562b0c61 14
FernandoLG 0:2595562b0c61 15 // /*
FernandoLG 1:fb8f963047b0 16 void handlerFunction(const geometry_msgs::Twist& command){
FernandoLG 1:fb8f963047b0 17 commandRead = command;
FernandoLG 0:2595562b0c61 18 }
FernandoLG 0:2595562b0c61 19 // */
FernandoLG 0:2595562b0c61 20
FernandoLG 1:fb8f963047b0 21 ros::Subscriber<geometry_msgs::Twist> sub("cmd_vel", &handlerFunction);
FernandoLG 0:2595562b0c61 22
FernandoLG 0:2595562b0c61 23 int main() {
FernandoLG 0:2595562b0c61 24 nh.initNode();
FernandoLG 0:2595562b0c61 25 nh.subscribe(sub);
FernandoLG 0:2595562b0c61 26 nh.advertise(chatter);
FernandoLG 1:fb8f963047b0 27
FernandoLG 1:fb8f963047b0 28 commandRead.linear.x = 6.9;
FernandoLG 0:2595562b0c61 29
FernandoLG 0:2595562b0c61 30 while (1) {
FernandoLG 1:fb8f963047b0 31 //commandRead = command;
FernandoLG 0:2595562b0c61 32 chatter.publish( &commandRead);
FernandoLG 0:2595562b0c61 33 nh.spinOnce();
FernandoLG 1:fb8f963047b0 34 wait_ms(10);
FernandoLG 0:2595562b0c61 35 }
FernandoLG 0:2595562b0c61 36 }