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/HelloWorld.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 | 3:dff241b66f84 | 1 | #define COMPILE_HELLOWORLD_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 2 | #ifdef COMPILE_HELLOWORLD_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 3 | |
| nucho | 0:06fc856e99ca | 4 | /* |
| nucho | 0:06fc856e99ca | 5 | * rosserial Publisher Example |
| nucho | 0:06fc856e99ca | 6 | * Prints "hello world!" |
| 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 <std_msgs/String.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 | int main() { |
| nucho | 0:06fc856e99ca | 21 | nh.initNode(); |
| nucho | 0:06fc856e99ca | 22 | nh.advertise(chatter); |
| nucho | 0:06fc856e99ca | 23 | |
| nucho | 0:06fc856e99ca | 24 | while (1) { |
| nucho | 0:06fc856e99ca | 25 | str_msg.data = hello; |
| nucho | 0:06fc856e99ca | 26 | chatter.publish( &str_msg ); |
| nucho | 0:06fc856e99ca | 27 | nh.spinOnce(); |
| nucho | 0:06fc856e99ca | 28 | wait_ms(1000); |
| nucho | 0:06fc856e99ca | 29 | } |
| nucho | 0:06fc856e99ca | 30 | } |
| nucho | 0:06fc856e99ca | 31 | |
| nucho | 0:06fc856e99ca | 32 | #endif |