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
Diff: main.cpp
- Revision:
- 2:8b3e4bfa29e5
- Parent:
- 1:fb8f963047b0
- Child:
- 3:6690a73cf982
--- a/main.cpp Mon Aug 13 19:25:13 2018 +0000 +++ b/main.cpp Fri Aug 24 20:26:57 2018 +0000 @@ -4,31 +4,30 @@ */ #include "mbed.h" #include <ros.h> -#include <geometry_msgs/Twist.h> +#include <std_msgs/Char.h> ros::NodeHandle nh; DigitalOut myled(LED1); -geometry_msgs::Twist commandRead; +std_msgs::Char commandRead; ros::Publisher chatter("chatter", &commandRead); // /* -void handlerFunction(const geometry_msgs::Twist& command){ - commandRead = command; +void handlerFunction(const std_msgs::Char& commandSend){ + commandRead = commandSend; } // */ -ros::Subscriber<geometry_msgs::Twist> sub("cmd_vel", &handlerFunction); +ros::Subscriber<std_msgs::> sub("cmd_vel", &handlerFunction); int main() { nh.initNode(); nh.subscribe(sub); nh.advertise(chatter); - commandRead.linear.x = 6.9; + commandRead.data= 'X'; while (1) { - //commandRead = command; chatter.publish( &commandRead); nh.spinOnce(); wait_ms(10);