John Lam / Mbed 2 deprecated rosserial_mbed_carbase

carbase

Dependencies:   mbed mbed-rtos ros_lib_melodic

main.cpp

Committer:
howanglam3
Date:
2020-12-29
Revision:
3:a1a69ae50c18
Parent:
0:f48f597ef690
Child:
4:aa8ef06b9469

File content as of revision 3:a1a69ae50c18:

#define BAUD 115200
/*
 * rosserial Subscriber Example
 * Blinks an LED on callback
 */
#include "mbed.h"
#include <ros.h>
#include <std_msgs/Float32MultiArray.h>
#include <std_msgs/Int32MultiArray.h>

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

void messageCb(const std_msgs::Float32MultiArray& toggle_msg){
    myled = !myled;   // blink the led
}

ros::Subscriber<std_msgs::Float32MultiArray> subax("moving_base", &messageCb);
ros::Subscriber<std_msgs::Float32MultiArray> subbt("fcn_button", &messageCb);
int main() {
    nh.getHardware()->setBaud(BAUD);
    nh.initNode();
    nh.subscribe(subax);
    nh.subscribe(subbt);
    while (1) {
    nh.spinOnce();
        wait_ms(1);
    }
}