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/pubsub.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_PUBSUB_CODE_ROSSERIAL
akashvibhute 0:cb1dffdc7d05 2 #ifdef COMPILE_PUBSUB_CODE_ROSSERIAL
akashvibhute 0:cb1dffdc7d05 3
akashvibhute 0:cb1dffdc7d05 4 /*
akashvibhute 0:cb1dffdc7d05 5 * rosserial PubSub Example
akashvibhute 0:cb1dffdc7d05 6 * Prints "hello world!" and toggles led
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/String.h>
akashvibhute 0:cb1dffdc7d05 11 #include <std_msgs/Empty.h>
akashvibhute 0:cb1dffdc7d05 12
akashvibhute 0:cb1dffdc7d05 13 ros::NodeHandle nh;
akashvibhute 0:cb1dffdc7d05 14 DigitalOut myled(LED1);
akashvibhute 0:cb1dffdc7d05 15
akashvibhute 0:cb1dffdc7d05 16 void messageCb( const std_msgs::Empty& toggle_msg) {
akashvibhute 0:cb1dffdc7d05 17 myled = !myled; // blink the led
akashvibhute 0:cb1dffdc7d05 18 }
akashvibhute 0:cb1dffdc7d05 19
akashvibhute 0:cb1dffdc7d05 20 ros::Subscriber<std_msgs::Empty> sub("toggle_led", messageCb );
akashvibhute 0:cb1dffdc7d05 21
akashvibhute 0:cb1dffdc7d05 22
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() {
akashvibhute 0:cb1dffdc7d05 30 nh.initNode();
akashvibhute 0:cb1dffdc7d05 31 nh.advertise(chatter);
akashvibhute 0:cb1dffdc7d05 32 nh.subscribe(sub);
akashvibhute 0:cb1dffdc7d05 33
akashvibhute 0:cb1dffdc7d05 34 while (1) {
akashvibhute 0:cb1dffdc7d05 35 str_msg.data = hello;
akashvibhute 0:cb1dffdc7d05 36 chatter.publish( &str_msg );
akashvibhute 0:cb1dffdc7d05 37 nh.spinOnce();
akashvibhute 0:cb1dffdc7d05 38 wait_ms(500);
akashvibhute 0:cb1dffdc7d05 39 }
akashvibhute 0:cb1dffdc7d05 40 }
akashvibhute 0:cb1dffdc7d05 41 #endif