main.cpp

00001 /*
00002  * rosserial Subscriber Example
00003  * Blinks an LED on callback
00004  */
00005 #include "mbed.h"
00006 #include <ros.h>
00007 #include <std_msgs/String.h>
00008 
00009 ros::NodeHandle nh;
00010 DigitalOut myled(LED1);
00011 
00012 std_msgs::String commandRead;
00013 ros::Publisher chatter("chatter", &commandRead);
00014 
00015 // /*
00016 void handlerFunction(const std_msgs::String& commandSend){
00017     commandRead = commandSend;
00018 }
00019 // */
00020 
00021 ros::Subscriber<std_msgs::String> sub("cmd_vel", &handlerFunction);
00022 
00023 int main() {
00024     nh.initNode();
00025     nh.subscribe(sub);
00026     nh.advertise(chatter);
00027     
00028     char initialValue[2] = "X";
00029     commandRead.data= initialValue;
00030 
00031     while (1) {
00032         chatter.publish( &commandRead);
00033         nh.spinOnce();
00034         wait_ms(10);
00035     }
00036 }