Rogelio Vazquez
Communication script for senior design
Dependencies: ros_lib_indigo mbed
Revision 0:583c5af1418c, committed 2019-04-23
- Comitter:
- roger_wee
- Date:
- Tue Apr 23 18:37:20 2019 +0000
- Commit message:
- Senior design communication script
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Apr 23 18:37:20 2019 +0000
@@ -0,0 +1,55 @@
+#include "mbed.h"
+#include <ros.h>
+#include <std_msgs/Int16.h>
+
+//--------- GLOBAL VARIABLES LOCAL TO STM32 MAIN -----------
+DigitalOut my_led(LED1);
+
+int data_recieved = 0;
+
+//-------- END GLOBAL VARIABLES DECLARATION ---------------
+
+
+//--------- ROS NODE CONFIGURATION -------------------------
+ros::NodeHandle nh;
+
+// Ros message data containers
+std_msgs::Int16 recieve_msg;
+std_msgs::Int16 transmit_msg;
+
+// Set up Publishers
+ros::Publisher acknowledge_publisher("acknowledge", &transmit_msg);
+
+// Set up Subscribers
+void reciever_callback( const std_msgs::Int16& msg)
+{
+ // Assign msg.data to local variables
+ data_recieved = msg.data;
+}
+
+ros::Subscriber<std_msgs::Int16> reciever_subscriber("test", reciever_callback);
+
+
+//---------- END CONFIGURATION ----------------------------
+
+int main() {
+
+ // Initialize Node and publisher/subscriber
+ nh.initNode();
+ nh.advertise(acknowledge_publisher);
+ nh.subscribe(reciever_subscriber);
+
+ while(1) {
+
+ // Use local variables for computations here
+
+
+ // Publish any data necessary to be fed back to pc
+ transmit_msg.data = data_recieved;
+ acknowledge_publisher.publish(&transmit_msg);
+
+ // Spin ROS Node -- get data from callbacks
+ nh.spinOnce();
+ wait_ms(5);
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Apr 23 18:37:20 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ros_lib_indigo.lib Tue Apr 23 18:37:20 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/garyservin/code/ros_lib_indigo/#fd24f7ca9688