Gary Servin / Mbed 2 deprecated rosserial_mbed

Personal fork

Dependencies:   Servo mbed rosserial_mbed_lib

Fork of rosserial_mbed by nucho

examples/Blink.cpp

Committer:
garyservin
Date:
2014-05-01
Revision:
5:e52b44294b2b
Parent:
0:06fc856e99ca

File content as of revision 5:e52b44294b2b:

#define COMPILE_BLINK_CODE_ROSSERIAL
#ifdef COMPILE_BLINK_CODE_ROSSERIAL

/*
 * rosserial Subscriber Example
 * Blinks an LED on callback
 */
#include "mbed.h"
#include <ros.h>
#include <std_msgs/Empty.h>

ros::NodeHandle  nh;
DigitalOut myled(LED1);

void messageCb( const std_msgs::Empty& toggle_msg) {
    myled = !myled;   // blink the led
}

ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb );

int main() {
    nh.initNode();
    nh.subscribe(sub);

    while (1) {
        nh.spinOnce();
        wait_ms(1);
    }
}

#endif