Akash Vibhute / mbed_roshydro_test

ros_serial for mbed updated to work with ROS Hydro. Library still needs to be debugged

Dependencies:   rosserial_hydro

Library and program still under development!

examples/ServiceServer.cpp@0:cb1dffdc7d05, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:54:04 2015 +0000
Revision:
0:cb1dffdc7d05
Error: ; "mbed::Stream::Stream(const mbed::Stream &)" (declared at <a href="#" onmousedown="mbed_doc_goto('/mbed_roshydro_test//extras/mbed_e188a91d3eaa/Stream.h', '59'); return false;">/extras/mbed_e188a91d3eaa/Stream.h:59</a>) is inaccessible in "ext

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:cb1dffdc7d05 1 //#define COMPILE_SERVICESERVER_CODE_ROSSERIAL
akashvibhute 0:cb1dffdc7d05 2 #ifdef COMPILE_SERVICESERVER_CODE_ROSSERIAL
akashvibhute 0:cb1dffdc7d05 3 /*
akashvibhute 0:cb1dffdc7d05 4 * rosserial Service Server
akashvibhute 0:cb1dffdc7d05 5 */
akashvibhute 0:cb1dffdc7d05 6
akashvibhute 0:cb1dffdc7d05 7 #include <ros.h>
akashvibhute 0:cb1dffdc7d05 8 #include <std_msgs/String.h>
akashvibhute 0:cb1dffdc7d05 9 #include <rosserial_arduino/Test.h>
akashvibhute 0:cb1dffdc7d05 10
akashvibhute 0:cb1dffdc7d05 11 ros::NodeHandle nh;
akashvibhute 0:cb1dffdc7d05 12 using rosserial_arduino::Test;
akashvibhute 0:cb1dffdc7d05 13
akashvibhute 0:cb1dffdc7d05 14 int i;
akashvibhute 0:cb1dffdc7d05 15 void callback(const Test::Request & req, Test::Response & res) {
akashvibhute 0:cb1dffdc7d05 16 if ((i++)%2)
akashvibhute 0:cb1dffdc7d05 17 res.output = "hello";
akashvibhute 0:cb1dffdc7d05 18 else
akashvibhute 0:cb1dffdc7d05 19 res.output = "world";
akashvibhute 0:cb1dffdc7d05 20 }
akashvibhute 0:cb1dffdc7d05 21
akashvibhute 0:cb1dffdc7d05 22 ros::ServiceServer<Test::Request, Test::Response> server("test_srv",&callback);
akashvibhute 0:cb1dffdc7d05 23
akashvibhute 0:cb1dffdc7d05 24 std_msgs::String str_msg;
akashvibhute 0:cb1dffdc7d05 25 ros::Publisher chatter("chatter", &str_msg);
akashvibhute 0:cb1dffdc7d05 26
akashvibhute 0:cb1dffdc7d05 27 char hello[13] = "hello world!";
akashvibhute 0:cb1dffdc7d05 28
akashvibhute 0:cb1dffdc7d05 29 int main(void) {
akashvibhute 0:cb1dffdc7d05 30 nh.initNode();
akashvibhute 0:cb1dffdc7d05 31 nh.advertiseService(server);
akashvibhute 0:cb1dffdc7d05 32 nh.advertise(chatter);
akashvibhute 0:cb1dffdc7d05 33
akashvibhute 0:cb1dffdc7d05 34
akashvibhute 0:cb1dffdc7d05 35 while (1) {
akashvibhute 0:cb1dffdc7d05 36 str_msg.data = hello;
akashvibhute 0:cb1dffdc7d05 37 chatter.publish( &str_msg );
akashvibhute 0:cb1dffdc7d05 38 nh.spinOnce();
akashvibhute 0:cb1dffdc7d05 39 wait_ms(10);
akashvibhute 0:cb1dffdc7d05 40 }
akashvibhute 0:cb1dffdc7d05 41 }
akashvibhute 0:cb1dffdc7d05 42 #endif