ros_serial for mbed updated to work with ROS Hydro. Library still needs to be debugged
Library and program still under development!
examples/Blink.cpp@1:225298843679, 2015-02-15 (annotated)
- Committer:
- akashvibhute
- Date:
- Sun Feb 15 10:56:37 2015 +0000
- Revision:
- 1:225298843679
- Parent:
- 0:cb1dffdc7d05
rosserial_mbed for hydro testing
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akashvibhute | 0:cb1dffdc7d05 | 1 | //#define COMPILE_BLINK_CODE_ROSSERIAL |
akashvibhute | 0:cb1dffdc7d05 | 2 | #ifdef COMPILE_BLINK_CODE_ROSSERIAL |
akashvibhute | 0:cb1dffdc7d05 | 3 | |
akashvibhute | 0:cb1dffdc7d05 | 4 | /* |
akashvibhute | 0:cb1dffdc7d05 | 5 | * rosserial Subscriber Example |
akashvibhute | 0:cb1dffdc7d05 | 6 | * Blinks an LED on callback |
akashvibhute | 0:cb1dffdc7d05 | 7 | */ |
akashvibhute | 0:cb1dffdc7d05 | 8 | #include "mbed.h" |
akashvibhute | 0:cb1dffdc7d05 | 9 | #include <ros.h> |
akashvibhute | 0:cb1dffdc7d05 | 10 | #include <std_msgs/Empty.h> |
akashvibhute | 0:cb1dffdc7d05 | 11 | |
akashvibhute | 0:cb1dffdc7d05 | 12 | ros::NodeHandle nh; |
akashvibhute | 0:cb1dffdc7d05 | 13 | DigitalOut myled(LED1); |
akashvibhute | 0:cb1dffdc7d05 | 14 | |
akashvibhute | 0:cb1dffdc7d05 | 15 | void messageCb( const std_msgs::Empty& toggle_msg) { |
akashvibhute | 0:cb1dffdc7d05 | 16 | myled = !myled; // blink the led |
akashvibhute | 0:cb1dffdc7d05 | 17 | } |
akashvibhute | 0:cb1dffdc7d05 | 18 | |
akashvibhute | 0:cb1dffdc7d05 | 19 | ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb ); |
akashvibhute | 0:cb1dffdc7d05 | 20 | |
akashvibhute | 0:cb1dffdc7d05 | 21 | int main() { |
akashvibhute | 0:cb1dffdc7d05 | 22 | nh.initNode(); |
akashvibhute | 0:cb1dffdc7d05 | 23 | nh.subscribe(sub); |
akashvibhute | 0:cb1dffdc7d05 | 24 | |
akashvibhute | 0:cb1dffdc7d05 | 25 | while (1) { |
akashvibhute | 0:cb1dffdc7d05 | 26 | nh.spinOnce(); |
akashvibhute | 0:cb1dffdc7d05 | 27 | wait_ms(1); |
akashvibhute | 0:cb1dffdc7d05 | 28 | } |
akashvibhute | 0:cb1dffdc7d05 | 29 | } |
akashvibhute | 0:cb1dffdc7d05 | 30 | |
akashvibhute | 0:cb1dffdc7d05 | 31 | #endif |