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/TimeTF.cpp@4:2cbca0ac2569, 2012-02-29 (annotated)
- Committer:
- nucho
- Date:
- Wed Feb 29 23:02:12 2012 +0000
- Revision:
- 4:2cbca0ac2569
- Parent:
- 3:dff241b66f84
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:06fc856e99ca | 1 | //#define COMPILE_TIMETF_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 2 | #ifdef COMPILE_TIMETF_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 3 | |
| nucho | 0:06fc856e99ca | 4 | /* |
| nucho | 0:06fc856e99ca | 5 | * rosserial Time and TF Example |
| nucho | 0:06fc856e99ca | 6 | * Publishes a transform at 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 | 3:dff241b66f84 | 12 | #include <tf/transform_broadcaster.h> |
| nucho | 0:06fc856e99ca | 13 | |
| nucho | 0:06fc856e99ca | 14 | ros::NodeHandle nh; |
| nucho | 0:06fc856e99ca | 15 | |
| nucho | 0:06fc856e99ca | 16 | geometry_msgs::TransformStamped t; |
| nucho | 0:06fc856e99ca | 17 | tf::TransformBroadcaster broadcaster; |
| nucho | 0:06fc856e99ca | 18 | |
| nucho | 0:06fc856e99ca | 19 | char base_link[] = "/base_link"; |
| nucho | 0:06fc856e99ca | 20 | char odom[] = "/odom"; |
| nucho | 0:06fc856e99ca | 21 | |
| nucho | 0:06fc856e99ca | 22 | int main() { |
| nucho | 0:06fc856e99ca | 23 | nh.initNode(); |
| nucho | 3:dff241b66f84 | 24 | broadcaster.init(nh); |
| nucho | 3:dff241b66f84 | 25 | |
| nucho | 0:06fc856e99ca | 26 | |
| nucho | 0:06fc856e99ca | 27 | while (1) { |
| nucho | 0:06fc856e99ca | 28 | t.header.frame_id = odom; |
| nucho | 0:06fc856e99ca | 29 | t.child_frame_id = base_link; |
| nucho | 0:06fc856e99ca | 30 | t.transform.translation.x = 1.0; |
| nucho | 0:06fc856e99ca | 31 | t.transform.rotation.x = 0.0; |
| nucho | 0:06fc856e99ca | 32 | t.transform.rotation.y = 0.0; |
| nucho | 0:06fc856e99ca | 33 | t.transform.rotation.z = 0.0; |
| nucho | 0:06fc856e99ca | 34 | t.transform.rotation.w = 1.0; |
| nucho | 0:06fc856e99ca | 35 | t.header.stamp = nh.now(); |
| nucho | 0:06fc856e99ca | 36 | broadcaster.sendTransform(t); |
| nucho | 0:06fc856e99ca | 37 | nh.spinOnce(); |
| nucho | 0:06fc856e99ca | 38 | wait_ms(10); |
| nucho | 0:06fc856e99ca | 39 | } |
| nucho | 0:06fc856e99ca | 40 | } |
| nucho | 0:06fc856e99ca | 41 | |
| nucho | 0:06fc856e99ca | 42 | #endif |