Akash Vibhute / mbed_roshydro_test

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Dependencies:   rosserial_hydro

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Show/hide line numbers Blink.cpp Source File

Blink.cpp

00001 //#define COMPILE_BLINK_CODE_ROSSERIAL
00002 #ifdef COMPILE_BLINK_CODE_ROSSERIAL
00003 
00004 /*
00005  * rosserial Subscriber Example
00006  * Blinks an LED on callback
00007  */
00008 #include "mbed.h"
00009 #include <ros.h>
00010 #include <std_msgs/Empty.h>
00011 
00012 ros::NodeHandle  nh;
00013 DigitalOut myled(LED1);
00014 
00015 void messageCb( const std_msgs::Empty& toggle_msg) {
00016     myled = !myled;   // blink the led
00017 }
00018 
00019 ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb );
00020 
00021 int main() {
00022     nh.initNode();
00023     nh.subscribe(sub);
00024 
00025     while (1) {
00026         nh.spinOnce();
00027         wait_ms(1);
00028     }
00029 }
00030 
00031 #endif
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