okapia johnstoni / Mbed 2 deprecated ros_mbed_subscribe

sub test

Dependencies:   mbed ros_lib_kinetic

main.cpp@0:8b1a79d3dec1, 2019-06-19 (annotated)

Committer:
okapi
Date:
Wed Jun 19 11:16:04 2019 +0000
Revision:
0:8b1a79d3dec1
dsd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
okapi 0:8b1a79d3dec1 1 #include "mbed.h"
okapi 0:8b1a79d3dec1 2 #include <ros.h>
okapi 0:8b1a79d3dec1 3 #include <std_msgs/Empty.h>
okapi 0:8b1a79d3dec1 4
okapi 0:8b1a79d3dec1 5 ros::NodeHandle nh;
okapi 0:8b1a79d3dec1 6 DigitalOut myled(LED1);
okapi 0:8b1a79d3dec1 7
okapi 0:8b1a79d3dec1 8 void messageCb(const std_msgs::Empty& toggle_msg){
okapi 0:8b1a79d3dec1 9 myled = !myled;
okapi 0:8b1a79d3dec1 10 }
okapi 0:8b1a79d3dec1 11
okapi 0:8b1a79d3dec1 12 ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb);
okapi 0:8b1a79d3dec1 13
okapi 0:8b1a79d3dec1 14 int main(){
okapi 0:8b1a79d3dec1 15 nh.getHardware()->setBaud(115200);
okapi 0:8b1a79d3dec1 16 nh.initNode();
okapi 0:8b1a79d3dec1 17 nh.subscribe(sub);
okapi 0:8b1a79d3dec1 18
okapi 0:8b1a79d3dec1 19 while(1){
okapi 0:8b1a79d3dec1 20 nh.spinOnce();
okapi 0:8b1a79d3dec1 21 wait_ms(1);
okapi 0:8b1a79d3dec1 22 }
okapi 0:8b1a79d3dec1 23 }