nucho / Mbed 2 deprecated rosserial_mbed

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/ServiceClient.cpp

Committer:
nucho
Date:
2012-02-29
Revision:
4:2cbca0ac2569
Parent:
3:dff241b66f84

File content as of revision 4:2cbca0ac2569:

//#define COMPILE_SERVICECLIENT_CODE_ROSSERIAL
#ifdef  COMPILE_SERVICECLIENT_CODE_ROSSERIAL

/*
 * rosserial Service Client
 */

#include <ros.h>
#include <std_msgs/String.h>

#include <rosserial_arduino/Test.h>

ros::NodeHandle  nh;
using rosserial_arduino::Test;

ros::ServiceClient<Test::Request, Test::Response> client("test_srv");

std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);

char hello[13] = "hello world!";

int main() {
    nh.initNode();
    nh.serviceClient(client);
    nh.advertise(chatter);
    while (!nh.connected()) nh.spinOnce();
    nh.loginfo("Startup complete");
    while (1) {
        Test::Request req;
        Test::Response res;
        req.input = hello;
        client.call(req, res);
        str_msg.data = res.output;
        chatter.publish( &str_msg );
        nh.spinOnce();
        wait_ms(100);
    }
}
#endif