okapia johnstoni / Mbed 2 deprecated ros_mbed_publisher

publish test

Dependencies:   mbed ros_lib_kinetic

main.cpp@0:8427b97b8182, 2019-06-19 (annotated)

Committer:
okapi
Date:
Wed Jun 19 11:14:11 2019 +0000
Revision:
0:8427b97b8182
rfrd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
okapi 0:8427b97b8182 1 #include "mbed.h"
okapi 0:8427b97b8182 2 #include <ros.h>
okapi 0:8427b97b8182 3 #include <std_msgs/String.h>
okapi 0:8427b97b8182 4
okapi 0:8427b97b8182 5 ros::NodeHandle nh;
okapi 0:8427b97b8182 6
okapi 0:8427b97b8182 7 std_msgs::String str_msg;
okapi 0:8427b97b8182 8 ros::Publisher chatter("Chatter", &str_msg);
okapi 0:8427b97b8182 9
okapi 0:8427b97b8182 10 char hello[13] = "hello world!";
okapi 0:8427b97b8182 11
okapi 0:8427b97b8182 12 int main(){
okapi 0:8427b97b8182 13 nh.getHardware()->setBaud(115200);
okapi 0:8427b97b8182 14 nh.initNode();
okapi 0:8427b97b8182 15 nh.advertise(chatter);
okapi 0:8427b97b8182 16
okapi 0:8427b97b8182 17 while(1){
okapi 0:8427b97b8182 18 str_msg.data = hello;
okapi 0:8427b97b8182 19 chatter.publish( &str_msg );
okapi 0:8427b97b8182 20 nh.spinOnce();
okapi 0:8427b97b8182 21 wait_ms(1000);
okapi 0:8427b97b8182 22 }
okapi 0:8427b97b8182 23 }
okapi 0:8427b97b8182 24