Gary Servin / Mbed 2 deprecated rosserial_mbed_hello_world_publisher_jade

rosserial_mbed Hello World example for jade distribution

Dependencies:   mbed ros_lib_jade

main.cpp@0:b82e45548428, 2016-04-19 (annotated)

Committer:
garyservin
Date:
Tue Apr 19 21:35:04 2016 +0000
Revision:
0:b82e45548428
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:b82e45548428 1 /*
garyservin 0:b82e45548428 2 * rosserial Subscriber Example
garyservin 0:b82e45548428 3 * Blinks an LED on callback
garyservin 0:b82e45548428 4 */
garyservin 0:b82e45548428 5 #include "mbed.h"
garyservin 0:b82e45548428 6 #include <ros.h>
garyservin 0:b82e45548428 7 #include <std_msgs/Empty.h>
garyservin 0:b82e45548428 8
garyservin 0:b82e45548428 9 ros::NodeHandle nh;
garyservin 0:b82e45548428 10 DigitalOut myled(LED1);
garyservin 0:b82e45548428 11
garyservin 0:b82e45548428 12 void messageCb(const std_msgs::Empty& toggle_msg){
garyservin 0:b82e45548428 13 myled = !myled; // blink the led
garyservin 0:b82e45548428 14 }
garyservin 0:b82e45548428 15
garyservin 0:b82e45548428 16 ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb);
garyservin 0:b82e45548428 17
garyservin 0:b82e45548428 18 int main() {
garyservin 0:b82e45548428 19 nh.initNode();
garyservin 0:b82e45548428 20 nh.subscribe(sub);
garyservin 0:b82e45548428 21
garyservin 0:b82e45548428 22 while (1) {
garyservin 0:b82e45548428 23 nh.spinOnce();
garyservin 0:b82e45548428 24 wait_ms(1);
garyservin 0:b82e45548428 25 }
garyservin 0:b82e45548428 26 }