Diff: main.cpp

Revision:

0:d6f223f1ea8a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Nov 02 23:53:38 2018 +0000
@@ -0,0 +1,35 @@
+#include "mbed.h"
+#include <ros.h>
+#include <geometry_msgs/Twist.h>
+
+// Initialize ROS Node & Twist Message
+ros::NodeHandle nh;
+geometry_msgs::Twist commandRead;
+
+ros::Publisher chatter("chatter", &commandRead);
+
+// Initialize Subscribe Callback Functions
+void handlerFunction(const geometry_msgs::Twist& command){
+    commandRead = command;
+}
+ros::Subscriber<geometry_msgs::Twist> sub("cmd_vel", &handlerFunction);
+
+int main() {
+    // Initalize Node and Subscribe to Topic "cmd_vel"
+    nh.initNode();
+    nh.subscribe(sub);
+    //nh.advertise(chatter);
+    
+    //commandRead.linear.x = 6.9;
+
+    while (1) {
+        // Jesus change line here
+        // commandRead = actual velocity numbers
+        // commandRead.linear.x = forward velocity
+        // commandRead.angular.z = turning velocity
+        chatter.publish(&commandRead);
+        nh.spinOnce();
+        wait_ms(10);
+    }
+}
+