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:
- 2018-08-24
- Revision:
- 3:6690a73cf982
- Parent:
- 2:8b3e4bfa29e5
- Child:
- 4:26006d815db0
File content as of revision 3:6690a73cf982:
/* * rosserial Subscriber Example * Blinks an LED on callback */ #include "mbed.h" #include <ros.h> #include <std_msgs/Char.h> ros::NodeHandle nh; DigitalOut myled(LED1); std_msgs::Char commandRead; ros::Publisher chatter("chatter", &commandRead); // /* void handlerFunction(const std_msgs::Char& commandSend){ commandRead = commandSend; } // */ ros::Subscriber<std_msgs::Char> sub("cmd_vel", &handlerFunction); int main() { nh.initNode(); nh.subscribe(sub); nh.advertise(chatter); commandRead.data= 'X'; while (1) { chatter.publish( &commandRead); nh.spinOnce(); wait_ms(10); } }