Diff: main.cpp

Revision:

0:2bcae3be966f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Mar 19 09:12:22 2022 +0900
@@ -0,0 +1,50 @@
+/* mros2 example
+ * Copyright (c) 2021 smorita_emb
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "mbed.h"
+#include "mros2.h"
+#include "geometry_msgs/msg/pose.hpp"
+#include "EthernetInterface.h"
+
+#define IP_ADDRESS ("192.168.11.2") /* IP address */
+#define SUBNET_MASK ("255.255.255.0") /* Subnet mask */
+#define DEFAULT_GATEWAY ("192.168.11.1") /* Default gateway */
+
+
+void userCallback(geometry_msgs::msg::Pose *msg)
+{
+  MROS2_INFO("subscribed Pose msg!!");
+}
+
+int main() {
+  EthernetInterface network;
+  network.set_dhcp(false);
+  network.set_network(IP_ADDRESS, SUBNET_MASK, DEFAULT_GATEWAY);
+  nsapi_size_or_error_t result = network.connect();
+
+  printf("mbed mros2 start!\r\n");
+  printf("app name: sub_pose\r\n");
+  mros2::init(0, NULL);
+  MROS2_DEBUG("mROS 2 initialization is completed\r\n");
+
+  mros2::Node node = mros2::Node::create_node("sub_pose");
+  mros2::Subscriber sub = node.create_subscription<geometry_msgs::msg::Pose>("cmd_vel", 10, userCallback);
+  
+  MROS2_INFO("ready to pub/sub message");
+
+  mros2::spin();
+  return 0;
+}
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