carbase
Dependencies: mbed mbed-rtos ros_lib_melodic
main.cpp@3:a1a69ae50c18, 2020-12-29 (annotated)
- Committer:
- howanglam3
- Date:
- Tue Dec 29 07:23:51 2020 +0000
- Revision:
- 3:a1a69ae50c18
- Parent:
- 0:f48f597ef690
- Child:
- 4:aa8ef06b9469
init mbed workspace
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
howanglam3 | 3:a1a69ae50c18 | 1 | #define BAUD 115200 |
Gary Servin |
0:f48f597ef690 | 2 | /* |
Gary Servin |
0:f48f597ef690 | 3 | * rosserial Subscriber Example |
Gary Servin |
0:f48f597ef690 | 4 | * Blinks an LED on callback |
Gary Servin |
0:f48f597ef690 | 5 | */ |
Gary Servin |
0:f48f597ef690 | 6 | #include "mbed.h" |
Gary Servin |
0:f48f597ef690 | 7 | #include <ros.h> |
howanglam3 | 3:a1a69ae50c18 | 8 | #include <std_msgs/Float32MultiArray.h> |
howanglam3 | 3:a1a69ae50c18 | 9 | #include <std_msgs/Int32MultiArray.h> |
Gary Servin |
0:f48f597ef690 | 10 | |
Gary Servin |
0:f48f597ef690 | 11 | ros::NodeHandle nh; |
Gary Servin |
0:f48f597ef690 | 12 | DigitalOut myled(LED1); |
Gary Servin |
0:f48f597ef690 | 13 | |
howanglam3 | 3:a1a69ae50c18 | 14 | void messageCb(const std_msgs::Float32MultiArray& toggle_msg){ |
Gary Servin |
0:f48f597ef690 | 15 | myled = !myled; // blink the led |
Gary Servin |
0:f48f597ef690 | 16 | } |
Gary Servin |
0:f48f597ef690 | 17 | |
howanglam3 | 3:a1a69ae50c18 | 18 | ros::Subscriber<std_msgs::Float32MultiArray> subax("moving_base", &messageCb); |
howanglam3 | 3:a1a69ae50c18 | 19 | ros::Subscriber<std_msgs::Float32MultiArray> subbt("fcn_button", &messageCb); |
Gary Servin |
0:f48f597ef690 | 20 | int main() { |
howanglam3 | 3:a1a69ae50c18 | 21 | nh.getHardware()->setBaud(BAUD); |
Gary Servin |
0:f48f597ef690 | 22 | nh.initNode(); |
howanglam3 | 3:a1a69ae50c18 | 23 | nh.subscribe(subax); |
howanglam3 | 3:a1a69ae50c18 | 24 | nh.subscribe(subbt); |
Gary Servin |
0:f48f597ef690 | 25 | while (1) { |
howanglam3 | 3:a1a69ae50c18 | 26 | nh.spinOnce(); |
Gary Servin |
0:f48f597ef690 | 27 | wait_ms(1); |
Gary Servin |
0:f48f597ef690 | 28 | } |
Gary Servin |
0:f48f597ef690 | 29 | } |