Gary Servin / Mbed 2 deprecated rosserial_mbed_hello_world_publisher_kinetic

rosserial_mbed Hello World example for Kinetic Kame distribution

Dependencies:   mbed ros_lib_kinetic

main.cpp@0:20afeed366f0, 2016-12-31 (annotated)

Committer:
garyservin
Date:
Sat Dec 31 01:08:57 2016 +0000
Revision:
0:20afeed366f0
Initial commit for Kinetic Kame

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:20afeed366f0 1 /*
garyservin 0:20afeed366f0 2 * rosserial Subscriber Example
garyservin 0:20afeed366f0 3 * Blinks an LED on callback
garyservin 0:20afeed366f0 4 */
garyservin 0:20afeed366f0 5 #include "mbed.h"
garyservin 0:20afeed366f0 6 #include <ros.h>
garyservin 0:20afeed366f0 7 #include <std_msgs/Empty.h>
garyservin 0:20afeed366f0 8
garyservin 0:20afeed366f0 9 ros::NodeHandle nh;
garyservin 0:20afeed366f0 10 DigitalOut myled(LED1);
garyservin 0:20afeed366f0 11
garyservin 0:20afeed366f0 12 void messageCb(const std_msgs::Empty& toggle_msg){
garyservin 0:20afeed366f0 13 myled = !myled; // blink the led
garyservin 0:20afeed366f0 14 }
garyservin 0:20afeed366f0 15
garyservin 0:20afeed366f0 16 ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb);
garyservin 0:20afeed366f0 17
garyservin 0:20afeed366f0 18 int main() {
garyservin 0:20afeed366f0 19 nh.initNode();
garyservin 0:20afeed366f0 20 nh.subscribe(sub);
garyservin 0:20afeed366f0 21
garyservin 0:20afeed366f0 22 while (1) {
garyservin 0:20afeed366f0 23 nh.spinOnce();
garyservin 0:20afeed366f0 24 wait_ms(1);
garyservin 0:20afeed366f0 25 }
garyservin 0:20afeed366f0 26 }