aaa
Dependencies: mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic
Diff: myRos.h
- Revision:
- 0:10f626cf3ec4
- Child:
- 1:bdd17feaa4ce
diff -r 000000000000 -r 10f626cf3ec4 myRos.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/myRos.h Thu Dec 06 10:22:27 2018 +0000 @@ -0,0 +1,48 @@ +#ifndef _MY_ROS_H_ +#define _MY_ROS_H_ + +#include "mbed.h" +#include "ros.h" +#include "ros/time.h" +#include "std_msgs/Bool.h" + +#define COURT_RED false +#define COURT_BLUE true + +class myRos +{ + private: + ros::NodeHandle nh_; + bool court_color_; +// std_msgs::Bool court_color_msg_; +// ros::Publisher court_color_pub_; + + public: + //Constructor + myRos(bool court_color = COURT_RED) : court_color_(court_color){ + //ROS node initialize + nh_.getHardware()->setBaud(115200); + nh_.initNode(); + +// initialize(); + +// court_color_pub_ = new ros::Publisher("court_color", &court_color_msg_); +// nh_.advertise(court_color_pub_); + } + + void loop(){ + publisher(); + nh_.spinOnce(); +// court_color_msg_.data = court_color_; +// court_color_pub_.publish(&court_color_msg_); + } + + private: + //Initialise + void initialize(); + void publisher(); + + +}; + +#endif \ No newline at end of file