![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Subscribe "cmd_vel"
Diff: main.cpp
- Revision:
- 0:d6f223f1ea8a
diff -r 000000000000 -r d6f223f1ea8a main.cpp --- /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); + } +} +