Yoonki Lee / Mbed 2 deprecated roscar_ver_20190501_anglechange_copy

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Dependencies:   mbed Servo rosserial_mbed_String_PubSub ros_lib_kinetic roscar_ver_20190501_copy

Diff: main.cpp

Revision:
2:8b3e4bfa29e5
Parent:
1:fb8f963047b0
Child:
3:6690a73cf982
diff -r fb8f963047b0 -r 8b3e4bfa29e5 main.cpp
--- a/main.cpp	Mon Aug 13 19:25:13 2018 +0000
+++ b/main.cpp	Fri Aug 24 20:26:57 2018 +0000
@@ -4,31 +4,30 @@
  */
 #include "mbed.h"
 #include <ros.h>
-#include <geometry_msgs/Twist.h>
+#include <std_msgs/Char.h>
 
 ros::NodeHandle nh;
 DigitalOut myled(LED1);
 
-geometry_msgs::Twist commandRead;
+std_msgs::Char commandRead;
 ros::Publisher chatter("chatter", &commandRead);
 
 // /*
-void handlerFunction(const geometry_msgs::Twist& command){
-    commandRead = command;
+void handlerFunction(const std_msgs::Char& commandSend){
+    commandRead = commandSend;
 }
 // */
 
-ros::Subscriber<geometry_msgs::Twist> sub("cmd_vel", &handlerFunction);
+ros::Subscriber<std_msgs::> sub("cmd_vel", &handlerFunction);
 
 int main() {
     nh.initNode();
     nh.subscribe(sub);
     nh.advertise(chatter);
     
-    commandRead.linear.x = 6.9;
+    commandRead.data= 'X';
 
     while (1) {
-        //commandRead = command;
         chatter.publish( &commandRead);
         nh.spinOnce();
         wait_ms(10);