
Ros-RTOS helloworld example project
Dependencies: mbed-rtos mbed ros_lib_indigo
Revision 0:4934245d6d7a, committed 2017-01-04
- Comitter:
- randalthor
- Date:
- Wed Jan 04 17:13:52 2017 +0000
- Commit message:
- Ros RTOS hello world example project
Changed in this revision
diff -r 000000000000 -r 4934245d6d7a main.cpp --- /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); + } + +}
diff -r 000000000000 -r 4934245d6d7a mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Wed Jan 04 17:13:52 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#58563e6cba1e
diff -r 000000000000 -r 4934245d6d7a mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Jan 04 17:13:52 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/faff56e089b2 \ No newline at end of file
diff -r 000000000000 -r 4934245d6d7a ros_lib_indigo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ros_lib_indigo.lib Wed Jan 04 17:13:52 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/garyservin/code/ros_lib_indigo/#fd24f7ca9688