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:
- 0:2595562b0c61
- Child:
- 1:fb8f963047b0
diff -r 000000000000 -r 2595562b0c61 main.cpp --- /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); + } +}