HAVRM mine / Mbed 2 deprecated rosserial_mbed_F64MA

rosserial mbed for Float64MultiArray (In this program, the topic name is "chatter"). you need the node at PC who send Float64MultiArray (In this program, the topic name is "req". And the number of data is same as the returning data ("chatter", in this program, 5 data)). The example is written at comment.

Dependencies:   mbed ros_lib_indigo

Fork of rosserial_mbed_hello_world_publisher by Gary Servin

main.cpp@1:c7411b1ccd0f, 2016-10-25 (annotated)

Committer:
hirokimineshita
Date:
Tue Oct 25 06:29:41 2016 +0000
Revision:
1:c7411b1ccd0f
Parent:
0:17fd7572aedb
Child:
2:b740e3e4c6c9
first upload

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:17fd7572aedb 1 /*
garyservin 0:17fd7572aedb 2 * rosserial Publisher Example
garyservin 0:17fd7572aedb 3 * Prints "hello world!"
garyservin 0:17fd7572aedb 4 */
hirokimineshita 1:c7411b1ccd0f 5 /*
garyservin 0:17fd7572aedb 6 #include"mbed.h"
garyservin 0:17fd7572aedb 7 #include <ros.h>
garyservin 0:17fd7572aedb 8 #include <std_msgs/String.h>
garyservin 0:17fd7572aedb 9
garyservin 0:17fd7572aedb 10 ros::NodeHandle nh;
garyservin 0:17fd7572aedb 11
garyservin 0:17fd7572aedb 12 std_msgs::String str_msg;
garyservin 0:17fd7572aedb 13 ros::Publisher chatter("chatter", &str_msg);
garyservin 0:17fd7572aedb 14
hirokimineshita 1:c7411b1ccd0f 15 char hello[13] = "hello world0";
garyservin 0:17fd7572aedb 16
garyservin 0:17fd7572aedb 17 DigitalOut led = LED1;
garyservin 0:17fd7572aedb 18
garyservin 0:17fd7572aedb 19 int main() {
hirokimineshita 1:c7411b1ccd0f 20 int num=0;
hirokimineshita 1:c7411b1ccd0f 21 nh.getHardware()->setBaud(115200);
garyservin 0:17fd7572aedb 22 nh.initNode();
garyservin 0:17fd7572aedb 23 nh.advertise(chatter);
garyservin 0:17fd7572aedb 24
garyservin 0:17fd7572aedb 25 while (1) {
garyservin 0:17fd7572aedb 26 led = !led;
hirokimineshita 1:c7411b1ccd0f 27 hello[11]=num+48;
garyservin 0:17fd7572aedb 28 str_msg.data = hello;
garyservin 0:17fd7572aedb 29 chatter.publish( &str_msg );
garyservin 0:17fd7572aedb 30 nh.spinOnce();
hirokimineshita 1:c7411b1ccd0f 31 wait_ms(2);
hirokimineshita 1:c7411b1ccd0f 32 num++;
hirokimineshita 1:c7411b1ccd0f 33 if(num>9)num=0;
hirokimineshita 1:c7411b1ccd0f 34 }
hirokimineshita 1:c7411b1ccd0f 35 }
hirokimineshita 1:c7411b1ccd0f 36 */
hirokimineshita 1:c7411b1ccd0f 37 /*
hirokimineshita 1:c7411b1ccd0f 38 #include"mbed.h"
hirokimineshita 1:c7411b1ccd0f 39 #include <ros.h>
hirokimineshita 1:c7411b1ccd0f 40 #include <std_msgs/Float64MultiArray.h>
hirokimineshita 1:c7411b1ccd0f 41
hirokimineshita 1:c7411b1ccd0f 42 ros::NodeHandle nh;
hirokimineshita 1:c7411b1ccd0f 43
hirokimineshita 1:c7411b1ccd0f 44 std_msgs::Float64MultiArray str_msg;
hirokimineshita 1:c7411b1ccd0f 45
hirokimineshita 1:c7411b1ccd0f 46 double data[5]={0.1,0.2,0.3,0.4,0};
hirokimineshita 1:c7411b1ccd0f 47
hirokimineshita 1:c7411b1ccd0f 48 DigitalOut led = LED1;
hirokimineshita 1:c7411b1ccd0f 49
hirokimineshita 1:c7411b1ccd0f 50 int main() {
hirokimineshita 1:c7411b1ccd0f 51 nh.getHardware()->setBaud(115200);
hirokimineshita 1:c7411b1ccd0f 52 nh.initNode();
hirokimineshita 1:c7411b1ccd0f 53 str_msg.layout.dim_length=1;
hirokimineshita 1:c7411b1ccd0f 54 str_msg.data_length=5;
hirokimineshita 1:c7411b1ccd0f 55 str_msg.layout.dim = (std_msgs::MultiArrayDimension *)
hirokimineshita 1:c7411b1ccd0f 56 malloc(sizeof(std_msgs::MultiArrayDimension) * 2);
hirokimineshita 1:c7411b1ccd0f 57 str_msg.layout.dim[0].label = "chatter";
hirokimineshita 1:c7411b1ccd0f 58 str_msg.layout.dim[0].size = 5;
hirokimineshita 1:c7411b1ccd0f 59 str_msg.layout.dim[0].stride = 1*5;
hirokimineshita 1:c7411b1ccd0f 60 str_msg.layout.data_offset = 0;
hirokimineshita 1:c7411b1ccd0f 61 str_msg.data = (double *)malloc(sizeof(double)*5);
hirokimineshita 1:c7411b1ccd0f 62 ros::Publisher chatter("chatter", &str_msg);
hirokimineshita 1:c7411b1ccd0f 63 nh.advertise(chatter);
hirokimineshita 1:c7411b1ccd0f 64 while (1) {
hirokimineshita 1:c7411b1ccd0f 65 led = !led;
hirokimineshita 1:c7411b1ccd0f 66 data[4]+=0.1;
hirokimineshita 1:c7411b1ccd0f 67 for(int i=0;i<5;i++)str_msg.data[i] = data[i];
hirokimineshita 1:c7411b1ccd0f 68 chatter.publish( &str_msg );
hirokimineshita 1:c7411b1ccd0f 69 nh.spinOnce();
garyservin 0:17fd7572aedb 70 wait_ms(1000);
garyservin 0:17fd7572aedb 71 }
hirokimineshita 1:c7411b1ccd0f 72 }*/
hirokimineshita 1:c7411b1ccd0f 73
hirokimineshita 1:c7411b1ccd0f 74 #include <ros.h>
hirokimineshita 1:c7411b1ccd0f 75 #include "mbed.h"
hirokimineshita 1:c7411b1ccd0f 76 #include <std_msgs/Float64MultiArray.h>
hirokimineshita 1:c7411b1ccd0f 77
hirokimineshita 1:c7411b1ccd0f 78 //ROS Float32Multiarray messages
hirokimineshita 1:c7411b1ccd0f 79 ros::NodeHandle nh;
hirokimineshita 1:c7411b1ccd0f 80 std_msgs::Float64MultiArray send;
hirokimineshita 1:c7411b1ccd0f 81 ros::Publisher chatter("chatter", &send);
hirokimineshita 1:c7411b1ccd0f 82
hirokimineshita 1:c7411b1ccd0f 83 //Functions
hirokimineshita 1:c7411b1ccd0f 84 void ros_callback( const std_msgs::Float64MultiArray& req);
hirokimineshita 1:c7411b1ccd0f 85 ros::Subscriber<std_msgs::Float64MultiArray> sub("req", ros_callback);
hirokimineshita 1:c7411b1ccd0f 86
hirokimineshita 1:c7411b1ccd0f 87 DigitalOut led = LED1;
hirokimineshita 1:c7411b1ccd0f 88 double num=0;
hirokimineshita 1:c7411b1ccd0f 89
hirokimineshita 1:c7411b1ccd0f 90 void setup()
hirokimineshita 1:c7411b1ccd0f 91 {
hirokimineshita 1:c7411b1ccd0f 92 // Serial.begin(115200);
hirokimineshita 1:c7411b1ccd0f 93 //ROS
hirokimineshita 1:c7411b1ccd0f 94 nh.getHardware()->setBaud(115200);
hirokimineshita 1:c7411b1ccd0f 95 nh.initNode();
hirokimineshita 1:c7411b1ccd0f 96 nh.advertise(chatter);
hirokimineshita 1:c7411b1ccd0f 97 nh.subscribe(sub);
hirokimineshita 1:c7411b1ccd0f 98
hirokimineshita 1:c7411b1ccd0f 99 send.data_length = 5;
hirokimineshita 1:c7411b1ccd0f 100 }
hirokimineshita 1:c7411b1ccd0f 101
hirokimineshita 1:c7411b1ccd0f 102 void loop()
hirokimineshita 1:c7411b1ccd0f 103 {
hirokimineshita 1:c7411b1ccd0f 104 nh.spinOnce();
hirokimineshita 1:c7411b1ccd0f 105 }
hirokimineshita 1:c7411b1ccd0f 106
hirokimineshita 1:c7411b1ccd0f 107 void ros_callback( const std_msgs::Float64MultiArray& req){
hirokimineshita 1:c7411b1ccd0f 108 send=req;
hirokimineshita 1:c7411b1ccd0f 109 num+=0.1;
hirokimineshita 1:c7411b1ccd0f 110 for(int i=0;i<5;i++)send.data[i]=num;
hirokimineshita 1:c7411b1ccd0f 111 chatter.publish(&send);
hirokimineshita 1:c7411b1ccd0f 112 led=!led;
hirokimineshita 1:c7411b1ccd0f 113 }
hirokimineshita 1:c7411b1ccd0f 114
hirokimineshita 1:c7411b1ccd0f 115 int main(){
hirokimineshita 1:c7411b1ccd0f 116 setup();
hirokimineshita 1:c7411b1ccd0f 117 while(1)loop();
garyservin 0:17fd7572aedb 118 }