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carbase
Dependencies: mbed mbed-rtos ros_lib_melodic
Diff: main.cpp
- Revision:
- 0:f48f597ef690
- Child:
- 3:a1a69ae50c18
diff -r 000000000000 -r f48f597ef690 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Nov 08 14:46:24 2019 -0300 @@ -0,0 +1,26 @@ +/* + * rosserial Subscriber Example + * Blinks an LED on callback + */ +#include "mbed.h" +#include <ros.h> +#include <std_msgs/Empty.h> + +ros::NodeHandle nh; +DigitalOut myled(LED1); + +void messageCb(const std_msgs::Empty& toggle_msg){ + myled = !myled; // blink the led +} + +ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb); + +int main() { + nh.initNode(); + nh.subscribe(sub); + + while (1) { + nh.spinOnce(); + wait_ms(1); + } +}