william chen
rosserial test
Dependencies: CANnucleo mbed-rtos mbed ros_lib_indigo
Revision 0:a66fe2119e59, committed 2016-10-06
- Comitter:
- piliwilliam
- Date:
- Thu Oct 06 06:51:51 2016 +0000
- Commit message:
- rosserial_test
Changed in this revision
diff -r 000000000000 -r a66fe2119e59 CANnucleo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CANnucleo.lib Thu Oct 06 06:51:51 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/hudakz/code/CANnucleo/#353237492903
diff -r 000000000000 -r a66fe2119e59 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Oct 06 06:51:51 2016 +0000
@@ -0,0 +1,68 @@
+#include "mbed.h"
+#include "rtos.h"
+#include <ros.h>
+#include <std_msgs/String.h>
+#include <std_msgs/Float32.h>
+#include <std_msgs/Empty.h>
+
+ros::NodeHandle nh;
+
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+std_msgs::String banana_msg;
+ros::Publisher banana("banana", &banana_msg);
+
+char hello[13] = "hello world!";
+char bababanana[11] = "bababanana";
+
+DigitalOut LEDs[4] = {
+ DigitalOut(LED1), DigitalOut(LED2), DigitalOut(LED3), DigitalOut(LED4)
+};
+
+Serial serial1(PA_9, PA_10);
+
+void messageCb(const std_msgs::String& str_msg)
+{
+ //myled = !myled; // blink the led
+ banana_msg.data = bababanana;
+ banana.publish(&banana_msg);
+ //str_msg.data = hello;
+ //chatter.publish( &str_msg );
+}
+
+ros::Subscriber<std_msgs::String> sub("chatter", &messageCb);
+
+void blink(void const *n) {
+ //int i = 1;
+ //serial1.putc(i);
+ str_msg.data = hello;
+ chatter.publish( &str_msg );
+}
+
+int main()
+{
+ nh.getHardware()->setBaud(1000000);
+ nh.initNode();
+ nh.advertise(chatter);
+ nh.advertise(banana);
+ nh.subscribe(sub);
+
+
+ serial1.baud(115200);
+ RtosTimer led_1_timer(blink, osTimerPeriodic, (void *)0);
+ led_1_timer.start(1000);//1000ms
+ //printf("\n\n*** RTOS basic example ***\n");
+ //Thread thread(print_thread, NULL, osPriorityNormal, DEFAULT_STACK_SIZE);
+ //Thread::wait(osWaitForever);
+
+ while (true) {
+
+
+ //temp_msg.data = 1;
+ //led_1_timer.start(100);
+ //chatter.publish( &str_msg );
+ nh.spinOnce();
+ }
+
+}
diff -r 000000000000 -r a66fe2119e59 mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Thu Oct 06 06:51:51 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#3da5f554d8bf
diff -r 000000000000 -r a66fe2119e59 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Oct 06 06:51:51 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/abea610beb85 \ No newline at end of file
diff -r 000000000000 -r a66fe2119e59 ros_lib_indigo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ros_lib_indigo.lib Thu Oct 06 06:51:51 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/garyservin/code/ros_lib_indigo/#fd24f7ca9688