Diff: examples/pubsub.cpp

Revision:

0:cb1dffdc7d05

diff -r 000000000000 -r cb1dffdc7d05 examples/pubsub.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/pubsub.cpp	Sun Feb 15 10:54:04 2015 +0000
@@ -0,0 +1,41 @@
+//#define COMPILE_PUBSUB_CODE_ROSSERIAL
+#ifdef  COMPILE_PUBSUB_CODE_ROSSERIAL
+
+/*
+ * rosserial PubSub Example
+ * Prints "hello world!" and toggles led
+ */
+#include "mbed.h"
+#include <ros.h>
+#include <std_msgs/String.h>
+#include <std_msgs/Empty.h>
+
+ros::NodeHandle  nh;
+DigitalOut myled(LED1);
+
+void messageCb( const std_msgs::Empty& toggle_msg) {
+    myled = !myled;   // blink the led
+}
+
+ros::Subscriber<std_msgs::Empty> sub("toggle_led", messageCb );
+
+
+
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+char hello[13] = "hello world!";
+
+int main() {
+    nh.initNode();
+    nh.advertise(chatter);
+    nh.subscribe(sub);
+
+    while (1) {
+        str_msg.data = hello;
+        chatter.publish( &str_msg );
+        nh.spinOnce();
+        wait_ms(500);
+    }
+}
+#endif
\ No newline at end of file