nucho
/
rosserial_mbed
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Dependencies: rosserial_mbed_lib mbed Servo
tests/time_test.cpp@0:06fc856e99ca, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:16 2011 +0000
- Revision:
- 0:06fc856e99ca
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:06fc856e99ca | 1 | //#define COMPILE_TIME_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 2 | #ifdef COMPILE_TIME_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 3 | |
| nucho | 0:06fc856e99ca | 4 | /* |
| nucho | 0:06fc856e99ca | 5 | * rosserial::std_msgs::Time Test |
| nucho | 0:06fc856e99ca | 6 | * Publishes current time |
| nucho | 0:06fc856e99ca | 7 | */ |
| nucho | 0:06fc856e99ca | 8 | |
| nucho | 0:06fc856e99ca | 9 | #include "mbed.h" |
| nucho | 0:06fc856e99ca | 10 | #include <ros.h> |
| nucho | 0:06fc856e99ca | 11 | #include <ros/time.h> |
| nucho | 0:06fc856e99ca | 12 | #include <std_msgs/Time.h> |
| nucho | 0:06fc856e99ca | 13 | |
| nucho | 0:06fc856e99ca | 14 | |
| nucho | 0:06fc856e99ca | 15 | ros::NodeHandle nh; |
| nucho | 0:06fc856e99ca | 16 | |
| nucho | 0:06fc856e99ca | 17 | std_msgs::Time test; |
| nucho | 0:06fc856e99ca | 18 | ros::Publisher p("my_topic", &test); |
| nucho | 0:06fc856e99ca | 19 | |
| nucho | 0:06fc856e99ca | 20 | int main() { |
| nucho | 0:06fc856e99ca | 21 | nh.initNode(); |
| nucho | 0:06fc856e99ca | 22 | nh.advertise(p); |
| nucho | 0:06fc856e99ca | 23 | |
| nucho | 0:06fc856e99ca | 24 | while (1) { |
| nucho | 0:06fc856e99ca | 25 | test.data = nh.now(); |
| nucho | 0:06fc856e99ca | 26 | p.publish( &test ); |
| nucho | 0:06fc856e99ca | 27 | nh.spinOnce(); |
| nucho | 0:06fc856e99ca | 28 | wait_ms(10); |
| nucho | 0:06fc856e99ca | 29 | } |
| nucho | 0:06fc856e99ca | 30 | } |
| nucho | 0:06fc856e99ca | 31 | #endif |