Fernando Lopez / Mbed 2 deprecated rosserial_mbed_String_PubSub

Example of a Publisher Subscriber ROSSerial node for Mbed enabled boards using String messages.

Dependencies:   mbed ros_lib_kinetic

Dependents:   roscar_ver_20190501_anglechange_copy

main.cpp@0:2595562b0c61, 2018-08-10 (annotated)

Committer:
FernandoLG
Date:
Fri Aug 10 21:02:43 2018 +0000
Revision:
0:2595562b0c61
Child:
1:fb8f963047b0
Initial test commit to publish

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 0:2595562b0c61 7 #include <std_msgs/String.h>
FernandoLG 0:2595562b0c61 8
FernandoLG 0:2595562b0c61 9 ros::NodeHandle nh;
FernandoLG 0:2595562b0c61 10 DigitalOut myled(LED1);
FernandoLG 0:2595562b0c61 11
FernandoLG 0:2595562b0c61 12 std_msgs::String commandRead;
FernandoLG 0:2595562b0c61 13 ros::Publisher chatter("chatter", &commandRead);
FernandoLG 0:2595562b0c61 14
FernandoLG 0:2595562b0c61 15 // /*
FernandoLG 0:2595562b0c61 16 void messageCb(const std_msgs::String& command){
FernandoLG 0:2595562b0c61 17 myled = 1; // turn on the led
FernandoLG 0:2595562b0c61 18 commandRead.data = command.data;
FernandoLG 0:2595562b0c61 19 }
FernandoLG 0:2595562b0c61 20 // */
FernandoLG 0:2595562b0c61 21
FernandoLG 0:2595562b0c61 22 ros::Subscriber<std_msgs::String> sub("toggle_led", &messageCb);
FernandoLG 0:2595562b0c61 23
FernandoLG 0:2595562b0c61 24 //char message[13] = "012345678910";
FernandoLG 0:2595562b0c61 25
FernandoLG 0:2595562b0c61 26 int main() {
FernandoLG 0:2595562b0c61 27 nh.initNode();
FernandoLG 0:2595562b0c61 28 nh.subscribe(sub);
FernandoLG 0:2595562b0c61 29 nh.advertise(chatter);
FernandoLG 0:2595562b0c61 30
FernandoLG 0:2595562b0c61 31 while (1) {
FernandoLG 0:2595562b0c61 32 myled = 0; // turn off the led
FernandoLG 0:2595562b0c61 33 // commandRead.data = message ;
FernandoLG 0:2595562b0c61 34 chatter.publish( &commandRead);
FernandoLG 0:2595562b0c61 35 nh.spinOnce();
FernandoLG 0:2595562b0c61 36 wait_ms(1);
FernandoLG 0:2595562b0c61 37 }
FernandoLG 0:2595562b0c61 38 }