okapia johnstoni / Mbed 2 deprecated ros_mbed_subscribe

sub test

Dependencies:   mbed ros_lib_kinetic

main.cpp

Committer:
okapi
Date:
2019-06-19
Revision:
0:8b1a79d3dec1

File content as of revision 0:8b1a79d3dec1:

#include "mbed.h"
#include <ros.h>
#include <std_msgs/Empty.h>

ros::NodeHandle nh;
DigitalOut myled(LED1);

void messageCb(const std_msgs::Empty& toggle_msg){
    myled = !myled;
}

ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb);

int main(){
    nh.getHardware()->setBaud(115200);
    nh.initNode();
    nh.subscribe(sub);
    
    while(1){
        nh.spinOnce();
        wait_ms(1);
    }
}