駿 高世 / Mbed 2 deprecated abu2019_mr1

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Dependencies:   mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic

myRos.h@0:10f626cf3ec4, 2018-12-06 (annotated)

Committer:
nakedt555
Date:
Thu Dec 06 10:22:27 2018 +0000
Revision:
0:10f626cf3ec4
Child:
1:bdd17feaa4ce
update myRos

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nakedt555 0:10f626cf3ec4 1 #ifndef _MY_ROS_H_
nakedt555 0:10f626cf3ec4 2 #define _MY_ROS_H_
nakedt555 0:10f626cf3ec4 3
nakedt555 0:10f626cf3ec4 4 #include "mbed.h"
nakedt555 0:10f626cf3ec4 5 #include "ros.h"
nakedt555 0:10f626cf3ec4 6 #include "ros/time.h"
nakedt555 0:10f626cf3ec4 7 #include "std_msgs/Bool.h"
nakedt555 0:10f626cf3ec4 8
nakedt555 0:10f626cf3ec4 9 #define COURT_RED false
nakedt555 0:10f626cf3ec4 10 #define COURT_BLUE true
nakedt555 0:10f626cf3ec4 11
nakedt555 0:10f626cf3ec4 12 class myRos
nakedt555 0:10f626cf3ec4 13 {
nakedt555 0:10f626cf3ec4 14 private:
nakedt555 0:10f626cf3ec4 15 ros::NodeHandle nh_;
nakedt555 0:10f626cf3ec4 16 bool court_color_;
nakedt555 0:10f626cf3ec4 17 // std_msgs::Bool court_color_msg_;
nakedt555 0:10f626cf3ec4 18 // ros::Publisher court_color_pub_;
nakedt555 0:10f626cf3ec4 19
nakedt555 0:10f626cf3ec4 20 public:
nakedt555 0:10f626cf3ec4 21 //Constructor
nakedt555 0:10f626cf3ec4 22 myRos(bool court_color = COURT_RED) : court_color_(court_color){
nakedt555 0:10f626cf3ec4 23 //ROS node initialize
nakedt555 0:10f626cf3ec4 24 nh_.getHardware()->setBaud(115200);
nakedt555 0:10f626cf3ec4 25 nh_.initNode();
nakedt555 0:10f626cf3ec4 26
nakedt555 0:10f626cf3ec4 27 // initialize();
nakedt555 0:10f626cf3ec4 28
nakedt555 0:10f626cf3ec4 29 // court_color_pub_ = new ros::Publisher("court_color", &court_color_msg_);
nakedt555 0:10f626cf3ec4 30 // nh_.advertise(court_color_pub_);
nakedt555 0:10f626cf3ec4 31 }
nakedt555 0:10f626cf3ec4 32
nakedt555 0:10f626cf3ec4 33 void loop(){
nakedt555 0:10f626cf3ec4 34 publisher();
nakedt555 0:10f626cf3ec4 35 nh_.spinOnce();
nakedt555 0:10f626cf3ec4 36 // court_color_msg_.data = court_color_;
nakedt555 0:10f626cf3ec4 37 // court_color_pub_.publish(&court_color_msg_);
nakedt555 0:10f626cf3ec4 38 }
nakedt555 0:10f626cf3ec4 39
nakedt555 0:10f626cf3ec4 40 private:
nakedt555 0:10f626cf3ec4 41 //Initialise
nakedt555 0:10f626cf3ec4 42 void initialize();
nakedt555 0:10f626cf3ec4 43 void publisher();
nakedt555 0:10f626cf3ec4 44
nakedt555 0:10f626cf3ec4 45
nakedt555 0:10f626cf3ec4 46 };
nakedt555 0:10f626cf3ec4 47
nakedt555 0:10f626cf3ec4 48 #endif