S Morita / Mbed OS example-mbed-mros2-sub-pose

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Dependencies:   mbed-mros2

main.cpp@0:2bcae3be966f, 2022-03-19 (annotated)

Committer:
smoritaemb
Date:
Sat Mar 19 09:12:22 2022 +0900
Revision:
0:2bcae3be966f
Imported app.cpp from the mros2 example.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
smoritaemb 0:2bcae3be966f 1 /* mros2 example
smoritaemb 0:2bcae3be966f 2 * Copyright (c) 2021 smorita_emb
smoritaemb 0:2bcae3be966f 3 *
smoritaemb 0:2bcae3be966f 4 * Licensed under the Apache License, Version 2.0 (the "License");
smoritaemb 0:2bcae3be966f 5 * you may not use this file except in compliance with the License.
smoritaemb 0:2bcae3be966f 6 * You may obtain a copy of the License at
smoritaemb 0:2bcae3be966f 7 *
smoritaemb 0:2bcae3be966f 8 * http://www.apache.org/licenses/LICENSE-2.0
smoritaemb 0:2bcae3be966f 9 *
smoritaemb 0:2bcae3be966f 10 * Unless required by applicable law or agreed to in writing, software
smoritaemb 0:2bcae3be966f 11 * distributed under the License is distributed on an "AS IS" BASIS,
smoritaemb 0:2bcae3be966f 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
smoritaemb 0:2bcae3be966f 13 * See the License for the specific language governing permissions and
smoritaemb 0:2bcae3be966f 14 * limitations under the License.
smoritaemb 0:2bcae3be966f 15 */
smoritaemb 0:2bcae3be966f 16
smoritaemb 0:2bcae3be966f 17 #include "mbed.h"
smoritaemb 0:2bcae3be966f 18 #include "mros2.h"
smoritaemb 0:2bcae3be966f 19 #include "geometry_msgs/msg/pose.hpp"
smoritaemb 0:2bcae3be966f 20 #include "EthernetInterface.h"
smoritaemb 0:2bcae3be966f 21
smoritaemb 0:2bcae3be966f 22 #define IP_ADDRESS ("192.168.11.2") /* IP address */
smoritaemb 0:2bcae3be966f 23 #define SUBNET_MASK ("255.255.255.0") /* Subnet mask */
smoritaemb 0:2bcae3be966f 24 #define DEFAULT_GATEWAY ("192.168.11.1") /* Default gateway */
smoritaemb 0:2bcae3be966f 25
smoritaemb 0:2bcae3be966f 26
smoritaemb 0:2bcae3be966f 27 void userCallback(geometry_msgs::msg::Pose *msg)
smoritaemb 0:2bcae3be966f 28 {
smoritaemb 0:2bcae3be966f 29 MROS2_INFO("subscribed Pose msg!!");
smoritaemb 0:2bcae3be966f 30 }
smoritaemb 0:2bcae3be966f 31
smoritaemb 0:2bcae3be966f 32 int main() {
smoritaemb 0:2bcae3be966f 33 EthernetInterface network;
smoritaemb 0:2bcae3be966f 34 network.set_dhcp(false);
smoritaemb 0:2bcae3be966f 35 network.set_network(IP_ADDRESS, SUBNET_MASK, DEFAULT_GATEWAY);
smoritaemb 0:2bcae3be966f 36 nsapi_size_or_error_t result = network.connect();
smoritaemb 0:2bcae3be966f 37
smoritaemb 0:2bcae3be966f 38 printf("mbed mros2 start!\r\n");
smoritaemb 0:2bcae3be966f 39 printf("app name: sub_pose\r\n");
smoritaemb 0:2bcae3be966f 40 mros2::init(0, NULL);
smoritaemb 0:2bcae3be966f 41 MROS2_DEBUG("mROS 2 initialization is completed\r\n");
smoritaemb 0:2bcae3be966f 42
smoritaemb 0:2bcae3be966f 43 mros2::Node node = mros2::Node::create_node("sub_pose");
smoritaemb 0:2bcae3be966f 44 mros2::Subscriber sub = node.create_subscription<geometry_msgs::msg::Pose>("cmd_vel", 10, userCallback);
smoritaemb 0:2bcae3be966f 45
smoritaemb 0:2bcae3be966f 46 MROS2_INFO("ready to pub/sub message");
smoritaemb 0:2bcae3be966f 47
smoritaemb 0:2bcae3be966f 48 mros2::spin();
smoritaemb 0:2bcae3be966f 49 return 0;
smoritaemb 0:2bcae3be966f 50 }