Gary Servin
/
rosserial_mbed
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Dependencies: Servo mbed rosserial_mbed_lib
Fork of
rosserial_mbed
by 
nucho
examples/HelloWorld.cpp@0:06fc856e99ca, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:16 2011 +0000
- Revision:
- 0:06fc856e99ca
- Child:
- 3:dff241b66f84
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:06fc856e99ca | 1 | //#define COMPILE_HELLOWORLD_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 2 | #ifdef COMPILE_HELLOWORLD_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 3 | |
| nucho | 0:06fc856e99ca | 4 | /* |
| nucho | 0:06fc856e99ca | 5 | * rosserial Publisher Example |
| nucho | 0:06fc856e99ca | 6 | * Prints "hello world!" |
| nucho | 0:06fc856e99ca | 7 | */ |
| nucho | 0:06fc856e99ca | 8 | |
| nucho | 0:06fc856e99ca | 9 | #include"mbed.h" |
| nucho | 0:06fc856e99ca | 10 | #include <ros.h> |
| nucho | 0:06fc856e99ca | 11 | #include <std_msgs/String.h> |
| nucho | 0:06fc856e99ca | 12 | |
| nucho | 0:06fc856e99ca | 13 | ros::NodeHandle nh; |
| nucho | 0:06fc856e99ca | 14 | |
| nucho | 0:06fc856e99ca | 15 | std_msgs::String str_msg; |
| nucho | 0:06fc856e99ca | 16 | ros::Publisher chatter("chatter", &str_msg); |
| nucho | 0:06fc856e99ca | 17 | |
| nucho | 0:06fc856e99ca | 18 | char hello[13] = "hello world!"; |
| nucho | 0:06fc856e99ca | 19 | |
| nucho | 0:06fc856e99ca | 20 | int main() { |
| nucho | 0:06fc856e99ca | 21 | nh.initNode(); |
| nucho | 0:06fc856e99ca | 22 | nh.advertise(chatter); |
| nucho | 0:06fc856e99ca | 23 | |
| nucho | 0:06fc856e99ca | 24 | while (1) { |
| nucho | 0:06fc856e99ca | 25 | str_msg.data = hello; |
| nucho | 0:06fc856e99ca | 26 | chatter.publish( &str_msg ); |
| nucho | 0:06fc856e99ca | 27 | nh.spinOnce(); |
| nucho | 0:06fc856e99ca | 28 | wait_ms(1000); |
| nucho | 0:06fc856e99ca | 29 | } |
| nucho | 0:06fc856e99ca | 30 | } |
| nucho | 0:06fc856e99ca | 31 | |
| nucho | 0:06fc856e99ca | 32 | #endif |