Diff: main.cpp

Revision:

0:2595562b0c61

Child:

1:fb8f963047b0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Aug 10 21:02:43 2018 +0000
@@ -0,0 +1,38 @@
+/*
+ * rosserial Subscriber Example
+ * Blinks an LED on callback
+ */
+#include "mbed.h"
+#include <ros.h>
+#include <std_msgs/String.h>
+
+ros::NodeHandle nh;
+DigitalOut myled(LED1);
+
+std_msgs::String commandRead;
+ros::Publisher chatter("chatter", &commandRead);
+
+// /*
+void messageCb(const std_msgs::String& command){
+    myled = 1;   // turn on the led
+    commandRead.data = command.data;
+}
+// */
+
+ros::Subscriber<std_msgs::String> sub("toggle_led", &messageCb);
+
+//char message[13] = "012345678910";
+
+int main() {
+    nh.initNode();
+    nh.subscribe(sub);
+    nh.advertise(chatter);
+
+    while (1) {
+        myled = 0; // turn off the led
+        // commandRead.data = message ;
+        chatter.publish( &commandRead);
+        nh.spinOnce();
+        wait_ms(1);
+    }
+}