Personal fork
Dependencies: Servo mbed rosserial_mbed_lib
Fork of rosserial_mbed by
examples/Blink.cpp@5:e52b44294b2b, 2014-05-01 (annotated)
- Committer:
- garyservin
- Date:
- Thu May 01 06:20:36 2014 +0000
- Revision:
- 5:e52b44294b2b
- Parent:
- 0:06fc856e99ca
Fixed some issues to run on hydro and Freescale KL25Z
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 5:e52b44294b2b | 1 | #define COMPILE_BLINK_CODE_ROSSERIAL |
nucho | 0:06fc856e99ca | 2 | #ifdef COMPILE_BLINK_CODE_ROSSERIAL |
nucho | 0:06fc856e99ca | 3 | |
nucho | 0:06fc856e99ca | 4 | /* |
nucho | 0:06fc856e99ca | 5 | * rosserial Subscriber Example |
nucho | 0:06fc856e99ca | 6 | * Blinks an LED on callback |
nucho | 0:06fc856e99ca | 7 | */ |
nucho | 0:06fc856e99ca | 8 | #include "mbed.h" |
nucho | 0:06fc856e99ca | 9 | #include <ros.h> |
nucho | 0:06fc856e99ca | 10 | #include <std_msgs/Empty.h> |
nucho | 0:06fc856e99ca | 11 | |
nucho | 0:06fc856e99ca | 12 | ros::NodeHandle nh; |
nucho | 0:06fc856e99ca | 13 | DigitalOut myled(LED1); |
nucho | 0:06fc856e99ca | 14 | |
nucho | 0:06fc856e99ca | 15 | void messageCb( const std_msgs::Empty& toggle_msg) { |
nucho | 0:06fc856e99ca | 16 | myled = !myled; // blink the led |
nucho | 0:06fc856e99ca | 17 | } |
nucho | 0:06fc856e99ca | 18 | |
nucho | 0:06fc856e99ca | 19 | ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb ); |
nucho | 0:06fc856e99ca | 20 | |
nucho | 0:06fc856e99ca | 21 | int main() { |
nucho | 0:06fc856e99ca | 22 | nh.initNode(); |
nucho | 0:06fc856e99ca | 23 | nh.subscribe(sub); |
nucho | 0:06fc856e99ca | 24 | |
nucho | 0:06fc856e99ca | 25 | while (1) { |
nucho | 0:06fc856e99ca | 26 | nh.spinOnce(); |
nucho | 0:06fc856e99ca | 27 | wait_ms(1); |
nucho | 0:06fc856e99ca | 28 | } |
nucho | 0:06fc856e99ca | 29 | } |
nucho | 0:06fc856e99ca | 30 | |
nucho | 0:06fc856e99ca | 31 | #endif |