Subscribe "cmd_vel"

Dependencies:   ros_lib_kinetic

Files at this revision

API Documentation at this revision

Comitter:
cpbenite
Date:
Fri Nov 02 23:53:38 2018 +0000
Commit message:
Hi Jesus;

Changed in this revision

.gitignore Show annotated file Show diff for this revision Revisions of this file
README.md Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed-os.lib Show annotated file Show diff for this revision Revisions of this file
ros_lib_kinetic.lib Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r d6f223f1ea8a .gitignore
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/.gitignore	Fri Nov 02 23:53:38 2018 +0000
@@ -0,0 +1,4 @@
+.build
+.mbed
+projectfiles
+*.py*
diff -r 000000000000 -r d6f223f1ea8a README.md
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/README.md	Fri Nov 02 23:53:38 2018 +0000
@@ -0,0 +1,57 @@
+# Getting started with Blinky on mbed OS
+
+This guide reviews the steps required to get Blinky working on an mbed OS platform.
+
+Please install [mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli).
+
+## Import the example application
+
+From the command-line, import the example:
+
+```
+mbed import mbed-os-example-blinky
+cd mbed-os-example-blinky
+```
+
+### Now compile
+
+Invoke `mbed compile`, and specify the name of your platform and your favorite toolchain (`GCC_ARM`, `ARM`, `IAR`). For example, for the ARM Compiler 5:
+
+```
+mbed compile -m K64F -t ARM
+```
+
+Your PC may take a few minutes to compile your code. At the end, you see the following result:
+
+```
+[snip]
++----------------------------+-------+-------+------+
+| Module                     | .text | .data | .bss |
++----------------------------+-------+-------+------+
+| Misc                       | 13939 |    24 | 1372 |
+| core/hal                   | 16993 |    96 |  296 |
+| core/rtos                  |  7384 |    92 | 4204 |
+| features/FEATURE_IPV4      |    80 |     0 |  176 |
+| frameworks/greentea-client |  1830 |    60 |   44 |
+| frameworks/utest           |  2392 |   512 |  292 |
+| Subtotals                  | 42618 |   784 | 6384 |
++----------------------------+-------+-------+------+
+Allocated Heap: unknown
+Allocated Stack: unknown
+Total Static RAM memory (data + bss): 7168 bytes
+Total RAM memory (data + bss + heap + stack): 7168 bytes
+Total Flash memory (text + data + misc): 43402 bytes
+Image: .\.build\K64F\ARM\mbed-os-example-blinky.bin
+```
+
+### Program your board
+
+1. Connect your mbed device to the computer over USB.
+1. Copy the binary file to the mbed device.
+1. Press the reset button to start the program.
+
+The LED on your platform turns on and off.
+
+## Troubleshooting
+
+If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it.
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);
+    }
+}
+
diff -r 000000000000 -r d6f223f1ea8a mbed-os.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Fri Nov 02 23:53:38 2018 +0000
@@ -0,0 +1,1 @@
+https://github.com/ARMmbed/mbed-os/#e1bea44212b8275f7d8ce7253e758c2e25c57482
diff -r 000000000000 -r d6f223f1ea8a ros_lib_kinetic.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros_lib_kinetic.lib	Fri Nov 02 23:53:38 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/garyservin/code/ros_lib_kinetic/#a849bf78d77f