Fernando Lopez / Mbed 2 deprecated rosserial_mbed_String_PubSub

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

Files at this revision

API Documentation at this revision

Revision 4:26006d815db0, committed 2018-08-24

Comitter:
FernandoLG
Date:
Fri Aug 24 21:21:46 2018 +0000
Parent:
3:6690a73cf982
Commit message:
ROS-Mbed Publisher Subscriber example with String Messages - Working

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 6690a73cf982 -r 26006d815db0 main.cpp
--- a/main.cpp	Fri Aug 24 20:30:13 2018 +0000
+++ b/main.cpp	Fri Aug 24 21:21:46 2018 +0000
@@ -4,28 +4,29 @@
  */
 #include "mbed.h"
 #include <ros.h>
-#include <std_msgs/Char.h>
+#include <std_msgs/String.h>
 
 ros::NodeHandle nh;
 DigitalOut myled(LED1);
 
-std_msgs::Char commandRead;
+std_msgs::String commandRead;
 ros::Publisher chatter("chatter", &commandRead);
 
 // /*
-void handlerFunction(const std_msgs::Char& commandSend){
+void handlerFunction(const std_msgs::String& commandSend){
     commandRead = commandSend;
 }
 // */
 
-ros::Subscriber<std_msgs::Char> sub("cmd_vel", &handlerFunction);
+ros::Subscriber<std_msgs::String> sub("cmd_vel", &handlerFunction);
 
 int main() {
     nh.initNode();
     nh.subscribe(sub);
     nh.advertise(chatter);
     
-    commandRead.data= 'X';
+    char initialValue[2] = "X";
+    commandRead.data= initialValue;
 
     while (1) {
         chatter.publish( &commandRead);