nucho
/
rosserial_mbed
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Dependencies: rosserial_mbed_lib mbed Servo
examples/Blink.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_BLINK_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 2 | #ifdef COMPILE_BLINK_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 3 | |
| nucho | 0:06fc856e99ca | 4 | /* |
| nucho | 0:06fc856e99ca | 5 | * rosserial Subscriber Example |
| nucho | 0:06fc856e99ca | 6 | * Blinks an LED on callback |
| nucho | 0:06fc856e99ca | 7 | */ |
| nucho | 0:06fc856e99ca | 8 | #include "mbed.h" |
| nucho | 0:06fc856e99ca | 9 | #include <ros.h> |
| nucho | 0:06fc856e99ca | 10 | #include <std_msgs/Empty.h> |
| nucho | 0:06fc856e99ca | 11 | |
| nucho | 0:06fc856e99ca | 12 | ros::NodeHandle nh; |
| nucho | 0:06fc856e99ca | 13 | DigitalOut myled(LED1); |
| nucho | 0:06fc856e99ca | 14 | |
| nucho | 0:06fc856e99ca | 15 | void messageCb( const std_msgs::Empty& toggle_msg) { |
| nucho | 0:06fc856e99ca | 16 | myled = !myled; // blink the led |
| nucho | 0:06fc856e99ca | 17 | } |
| nucho | 0:06fc856e99ca | 18 | |
| nucho | 0:06fc856e99ca | 19 | ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb ); |
| nucho | 0:06fc856e99ca | 20 | |
| nucho | 0:06fc856e99ca | 21 | int main() { |
| nucho | 0:06fc856e99ca | 22 | nh.initNode(); |
| nucho | 0:06fc856e99ca | 23 | nh.subscribe(sub); |
| nucho | 0:06fc856e99ca | 24 | |
| nucho | 0:06fc856e99ca | 25 | while (1) { |
| nucho | 0:06fc856e99ca | 26 | nh.spinOnce(); |
| nucho | 0:06fc856e99ca | 27 | wait_ms(1); |
| nucho | 0:06fc856e99ca | 28 | } |
| nucho | 0:06fc856e99ca | 29 | } |
| nucho | 0:06fc856e99ca | 30 | |
| nucho | 0:06fc856e99ca | 31 | #endif |