Diff: main.cpp

Revision:

0:4934245d6d7a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Jan 04 17:13:52 2017 +0000
@@ -0,0 +1,41 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "cmsis_os.h"
+#include <ros.h>
+#include <std_msgs/String.h>
+
+
+
+ros::NodeHandle  nh;
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+
+DigitalOut led1(LED1);
+
+void print_thread(void const *argument)
+{
+    char hello[13] = "hello world!"; 
+    while (true) {
+        Thread::wait(1000);
+        str_msg.data = hello;
+        chatter.publish( &str_msg );
+        nh.spinOnce();
+       
+    }
+}
+
+int main()
+{
+    nh.initNode();
+    nh.advertise(chatter);
+    
+  
+    Thread thread(print_thread, NULL, osPriorityNormal, DEFAULT_STACK_SIZE);
+    
+    while (true) {
+        led1 = !led1;
+        Thread::wait(500);
+    }
+    
+}