rosserial for Hydro
Fork of rosserial_mbed_lib by
tests/float64_test.cpp
- Committer:
- nucho
- Date:
- 2011-11-12
- Revision:
- 3:1cf99502f396
File content as of revision 3:1cf99502f396:
//#define COMPLIE_FLOAT64_CODE_ROSSERIAL #ifdef COMPILE_FLOAT64_CODE_ROSSERIAL /* * rosserial::std_msgs::Float64 Test * Receives a Float64 input, subtracts 1.0, and publishes it */ #include "mbed.h" #include <ros.h> #include <std_msgs/Float64.h> ros::NodeHandle nh; float x; DigitalOut myled(LED1); void messageCb( const std_msgs::Float64& msg) { x = msg.data - 1.0; myled = !myled; // blink the led } std_msgs::Float64 test; ros::Subscriber<std_msgs::Float64> s("your_topic", &messageCb); ros::Publisher p("my_topic", &test); int main() { nh.initNode(); nh.advertise(p); nh.subscribe(s); while (1) { test.data = x; p.publish( &test ); nh.spinOnce(); wait_ms(10); } } #endif