Stiven Ding / Mbed 2 deprecated ROS_Serial_Mbed

Demo for rosserial working with ROS2

Dependencies:   mbed ros_lib_melodic

main.cpp@0:91fdcf1ce3aa, 2021-10-29 (annotated)

Committer:
stivending
Date:
Fri Oct 29 12:36:50 2021 +0000
Revision:
0:91fdcf1ce3aa
a working sample keeping to publish data;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
stivending 0:91fdcf1ce3aa 1 /*
stivending 0:91fdcf1ce3aa 2 * rosserial Publisher Example
stivending 0:91fdcf1ce3aa 3 * Prints "hello world!"
stivending 0:91fdcf1ce3aa 4 */
stivending 0:91fdcf1ce3aa 5
stivending 0:91fdcf1ce3aa 6 #include "mbed.h"
stivending 0:91fdcf1ce3aa 7 #include "string.h"
stivending 0:91fdcf1ce3aa 8 #include <ros.h>
stivending 0:91fdcf1ce3aa 9 #include <std_msgs/String.h>
stivending 0:91fdcf1ce3aa 10
stivending 0:91fdcf1ce3aa 11 ros::NodeHandle nh;
stivending 0:91fdcf1ce3aa 12
stivending 0:91fdcf1ce3aa 13 std_msgs::String str_msg;
stivending 0:91fdcf1ce3aa 14 ros::Publisher chatter("chatter", &str_msg);
stivending 0:91fdcf1ce3aa 15
stivending 0:91fdcf1ce3aa 16 char hello[] = "Hello from Nucleo";
stivending 0:91fdcf1ce3aa 17 DigitalOut led = LED1;
stivending 0:91fdcf1ce3aa 18 DigitalIn but(USER_BUTTON);
stivending 0:91fdcf1ce3aa 19
stivending 0:91fdcf1ce3aa 20 int main() {
stivending 0:91fdcf1ce3aa 21 nh.initNode();
stivending 0:91fdcf1ce3aa 22 nh.advertise(chatter);
stivending 0:91fdcf1ce3aa 23
stivending 0:91fdcf1ce3aa 24 while (1) {
stivending 0:91fdcf1ce3aa 25 //if(but == 0) {
stivending 0:91fdcf1ce3aa 26 // while(but == 0);
stivending 0:91fdcf1ce3aa 27 led = !led;
stivending 0:91fdcf1ce3aa 28 str_msg.data = hello;
stivending 0:91fdcf1ce3aa 29 chatter.publish( &str_msg );
stivending 0:91fdcf1ce3aa 30 nh.spinOnce();
stivending 0:91fdcf1ce3aa 31
stivending 0:91fdcf1ce3aa 32 //}
stivending 0:91fdcf1ce3aa 33
stivending 0:91fdcf1ce3aa 34 wait_ms(100);
stivending 0:91fdcf1ce3aa 35 }
stivending 0:91fdcf1ce3aa 36 }