nucho / Mbed 2 deprecated rosserial_mbed

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.

Dependencies:   rosserial_mbed_lib mbed Servo

examples/TimeTF.cpp@0:06fc856e99ca, 2011-08-19 (annotated)

Committer:
nucho
Date:
Fri Aug 19 09:06:16 2011 +0000
Revision:
0:06fc856e99ca
Child:
3:dff241b66f84

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


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//#define COMPILE_TIMETF_CODE_ROSSERIAL





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#ifdef COMPILE_TIMETF_CODE_ROSSERIAL





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/*





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 * rosserial Time and TF Example





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 * Publishes a transform at current time





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 */





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#include "mbed.h"





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#include <ros.h>





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#include <ros/time.h>





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ros::NodeHandle  nh;





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#include <tf/transform_broadcaster.h>





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geometry_msgs::TransformStamped t;





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tf::TransformBroadcaster broadcaster;





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char base_link[] = "/base_link";





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char odom[] = "/odom";





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int main() {





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    nh.initNode();





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    while (1) {





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        t.header.frame_id = odom;





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        t.child_frame_id = base_link;





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        t.transform.translation.x = 1.0;





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        t.transform.rotation.x = 0.0;





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        t.transform.rotation.y = 0.0;





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        t.transform.rotation.z = 0.0;





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        t.transform.rotation.w = 1.0;





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        t.header.stamp = nh.now();





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        broadcaster.sendTransform(t);





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        nh.spinOnce();





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        wait_ms(10);





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    }





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}





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#endif