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/ServiceServer.cpp
- Committer:
- nucho
- Date:
- 2012-02-29
- Revision:
- 4:2cbca0ac2569
- Parent:
- 3:dff241b66f84
File content as of revision 4:2cbca0ac2569:
//#define COMPILE_SERVICESERVER_CODE_ROSSERIAL #ifdef COMPILE_SERVICESERVER_CODE_ROSSERIAL /* * rosserial Service Server */ #include <ros.h> #include <std_msgs/String.h> #include <rosserial_arduino/Test.h> ros::NodeHandle nh; using rosserial_arduino::Test; int i; void callback(const Test::Request & req, Test::Response & res) { if ((i++)%2) res.output = "hello"; else res.output = "world"; } ros::ServiceServer<Test::Request, Test::Response> server("test_srv",&callback); std_msgs::String str_msg; ros::Publisher chatter("chatter", &str_msg); char hello[13] = "hello world!"; int main(void) { nh.initNode(); nh.advertiseService(server); nh.advertise(chatter); while (1) { str_msg.data = hello; chatter.publish( &str_msg ); nh.spinOnce(); wait_ms(10); } } #endif