ozgur erbulan
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