Diff: main.cpp

Revision:

3:a1a69ae50c18

Parent:

0:f48f597ef690

Child:

4:aa8ef06b9469

diff -r 7968a5c6a53b -r a1a69ae50c18 main.cpp
--- a/main.cpp	Fri Nov 08 18:00:37 2019 +0000
+++ b/main.cpp	Tue Dec 29 07:23:51 2020 +0000
@@ -1,26 +1,29 @@
+#define BAUD 115200
 /*
  * rosserial Subscriber Example
  * Blinks an LED on callback
  */
 #include "mbed.h"
 #include <ros.h>
-#include <std_msgs/Empty.h>
+#include <std_msgs/Float32MultiArray.h>
+#include <std_msgs/Int32MultiArray.h>
 
 ros::NodeHandle nh;
 DigitalOut myled(LED1);
 
-void messageCb(const std_msgs::Empty& toggle_msg){
+void messageCb(const std_msgs::Float32MultiArray& toggle_msg){
     myled = !myled;   // blink the led
 }
 
-ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb);
-
+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(sub);
-
+    nh.subscribe(subax);
+    nh.subscribe(subbt);
     while (1) {
-        nh.spinOnce();
+    nh.spinOnce();
         wait_ms(1);
     }
 }