nucho / Mbed 2 deprecated rosserial_mbed

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Dependencies:   rosserial_mbed_lib mbed Servo

tests/array_test.cpp@3:dff241b66f84, 2011-11-12 (annotated)

Committer:
nucho
Date:
Sat Nov 12 23:53:04 2011 +0000
Revision:
3:dff241b66f84
Parent:
0:06fc856e99ca 
This program supported the revision of 167 of rosserial.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 0:06fc856e99ca 1 //#define COMPILE_ARRAY_CODE_RSOSSERIAL
nucho 0:06fc856e99ca 2 #ifdef COMPILE_ARRAY_CODE_RSOSSERIAL
nucho 0:06fc856e99ca 3
nucho 0:06fc856e99ca 4 /*
nucho 0:06fc856e99ca 5 * rosserial::geometry_msgs::PoseArray Test
nucho 0:06fc856e99ca 6 * Sums an array, publishes sum
nucho 0:06fc856e99ca 7 */
nucho 0:06fc856e99ca 8 #include "mbed.h"
nucho 0:06fc856e99ca 9 #include <ros.h>
nucho 0:06fc856e99ca 10 #include <geometry_msgs/Pose.h>
nucho 0:06fc856e99ca 11 #include <geometry_msgs/PoseArray.h>
nucho 0:06fc856e99ca 12
nucho 0:06fc856e99ca 13
nucho 0:06fc856e99ca 14 ros::NodeHandle nh;
nucho 0:06fc856e99ca 15
nucho 0:06fc856e99ca 16 bool set_;
nucho 0:06fc856e99ca 17 DigitalOut myled(LED1);
nucho 0:06fc856e99ca 18
nucho 0:06fc856e99ca 19 geometry_msgs::Pose sum_msg;
nucho 0:06fc856e99ca 20 ros::Publisher p("sum", &sum_msg);
nucho 0:06fc856e99ca 21
nucho 0:06fc856e99ca 22 void messageCb(const geometry_msgs::PoseArray& msg) {
nucho 0:06fc856e99ca 23 sum_msg.position.x = 0;
nucho 0:06fc856e99ca 24 sum_msg.position.y = 0;
nucho 0:06fc856e99ca 25 sum_msg.position.z = 0;
nucho 0:06fc856e99ca 26 for (int i = 0; i < msg.poses_length; i++) {
nucho 0:06fc856e99ca 27 sum_msg.position.x += msg.poses[i].position.x;
nucho 0:06fc856e99ca 28 sum_msg.position.y += msg.poses[i].position.y;
nucho 0:06fc856e99ca 29 sum_msg.position.z += msg.poses[i].position.z;
nucho 0:06fc856e99ca 30 }
nucho 0:06fc856e99ca 31 myled = !myled; // blink the led
nucho 0:06fc856e99ca 32 }
nucho 0:06fc856e99ca 33
nucho 0:06fc856e99ca 34 ros::Subscriber<geometry_msgs::PoseArray> s("poses",messageCb);
nucho 0:06fc856e99ca 35
nucho 0:06fc856e99ca 36 int main() {
nucho 0:06fc856e99ca 37 nh.initNode();
nucho 0:06fc856e99ca 38 nh.subscribe(s);
nucho 0:06fc856e99ca 39 nh.advertise(p);
nucho 0:06fc856e99ca 40
nucho 0:06fc856e99ca 41 while (1) {
nucho 0:06fc856e99ca 42 p.publish(&sum_msg);
nucho 0:06fc856e99ca 43 nh.spinOnce();
nucho 0:06fc856e99ca 44 wait_ms(10);
nucho 0:06fc856e99ca 45 }
nucho 0:06fc856e99ca 46 }
nucho 0:06fc856e99ca 47 #endif