Gary Servin / Mbed 2 deprecated rosserial_mbed

Personal fork

Dependencies:   Servo mbed rosserial_mbed_lib

Fork of rosserial_mbed by nucho

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?

UserRevisionLine numberNew 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