nucho
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/Logging.cpp@4:2cbca0ac2569, 2012-02-29 (annotated)
- Committer:
- nucho
- Date:
- Wed Feb 29 23:02:12 2012 +0000
- Revision:
- 4:2cbca0ac2569
- Parent:
- 0:06fc856e99ca
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:06fc856e99ca | 1 | //#define COMPILE_LOGGING_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 2 | #ifdef COMPILE_LOGGING_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 3 | |
| nucho | 0:06fc856e99ca | 4 | /* |
| nucho | 0:06fc856e99ca | 5 | * rosserial PubSub Example |
| nucho | 0:06fc856e99ca | 6 | * Prints "hello world!" and toggles led |
| nucho | 0:06fc856e99ca | 7 | */ |
| nucho | 0:06fc856e99ca | 8 | |
| nucho | 0:06fc856e99ca | 9 | #include <ros.h> |
| nucho | 0:06fc856e99ca | 10 | #include <std_msgs/String.h> |
| nucho | 0:06fc856e99ca | 11 | #include <std_msgs/Empty.h> |
| nucho | 0:06fc856e99ca | 12 | |
| nucho | 0:06fc856e99ca | 13 | ros::NodeHandle nh; |
| nucho | 0:06fc856e99ca | 14 | |
| nucho | 0:06fc856e99ca | 15 | std_msgs::String str_msg; |
| nucho | 0:06fc856e99ca | 16 | ros::Publisher chatter("chatter", &str_msg); |
| nucho | 0:06fc856e99ca | 17 | |
| nucho | 0:06fc856e99ca | 18 | char hello[13] = "hello world!"; |
| nucho | 0:06fc856e99ca | 19 | |
| nucho | 0:06fc856e99ca | 20 | char debug[]= "debug statements"; |
| nucho | 0:06fc856e99ca | 21 | char info[] = "infos"; |
| nucho | 0:06fc856e99ca | 22 | char warn[] = "warnings"; |
| nucho | 0:06fc856e99ca | 23 | char error[] = "errors"; |
| nucho | 0:06fc856e99ca | 24 | char fatal[] = "fatalities"; |
| nucho | 0:06fc856e99ca | 25 | |
| nucho | 0:06fc856e99ca | 26 | int main() { |
| nucho | 0:06fc856e99ca | 27 | nh.initNode(); |
| nucho | 0:06fc856e99ca | 28 | nh.advertise(chatter); |
| nucho | 0:06fc856e99ca | 29 | |
| nucho | 0:06fc856e99ca | 30 | while (1) { |
| nucho | 0:06fc856e99ca | 31 | str_msg.data = hello; |
| nucho | 0:06fc856e99ca | 32 | chatter.publish( &str_msg ); |
| nucho | 0:06fc856e99ca | 33 | |
| nucho | 0:06fc856e99ca | 34 | nh.logdebug(debug); |
| nucho | 0:06fc856e99ca | 35 | nh.loginfo(info); |
| nucho | 0:06fc856e99ca | 36 | nh.logwarn(warn); |
| nucho | 0:06fc856e99ca | 37 | nh.logerror(error); |
| nucho | 0:06fc856e99ca | 38 | nh.logfatal(fatal); |
| nucho | 0:06fc856e99ca | 39 | |
| nucho | 0:06fc856e99ca | 40 | nh.spinOnce(); |
| nucho | 0:06fc856e99ca | 41 | wait_ms(500); |
| nucho | 0:06fc856e99ca | 42 | } |
| nucho | 0:06fc856e99ca | 43 | } |
| nucho | 0:06fc856e99ca | 44 | |
| nucho | 0:06fc856e99ca | 45 | #endif |