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
- Committer:
- FernandoLG
- Date:
- 2018-08-10
- Revision:
- 0:2595562b0c61
- Child:
- 1:fb8f963047b0
File content as of revision 0:2595562b0c61:
/* * 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); } }