File content as of revision 0:f9a1c6f13adc:

#include "mbed.h"
#include "Motor.h"
#include <ros.h>
#include <std_msgs/String.h>
#include <geometry_msgs/Twist.h>

#define SPEED 100 //set speed target = 1m/s
#define AXLE 2.0 //
#define WHEELS_SIZE 0.05//5cm

//Motor
Motor motor( PA_12, PA_11, PA_5, PB_1, PB_2, PA_9, PB_15, PB_14, PB_13, PB_4, PA_8, PB_10);

//Switch
DigitalIn sw_start(PD_2); //program start switch
DigitalIn sw_reset(PC_12); 

//prototype
void MotorCmdCallback(const geometry_msgs::Twist& msg);

//instance
ros::NodeHandle  nh;
ros::Subscriber<geometry_msgs::Twist> sub("robot/cmd_vel",&MotorCmdCallback);


int main()
{
//**************************************************************//
////////////////////////initialize setting////////////////////////
//**************************************************************//
    /*Ros setting*/
    nh.getHardware()->setBaud(115200);
    nh.initNode();
    nh.subscribe(sub);
    
    /*motor pwm frequency set*/
    motor.Wheels(0,0);
    motor.setPwmPeriod(0.00005);//20kHz
    
    while (1) {
//***************************************************************//
////////////////MAIN LOOP////////////
//***************************************************************//
        nh.spinOnce();//毎回呼び出しが必要
        if(sw_start.read() == 0) {
        }
        //wait_ms(10);
        //motor.Wheels(0,0);
    }
    //return 0;
}



//**************************************************************//
///////////////motor function///////////////////////////////////
//**************************************************************//
void MotorCmdCallback(const geometry_msgs::Twist& msg){
    float v_l,v_r;//(m/s)
    v_l = ((float)msg.angular.z*AXLE-2.0*(float)msg.linear.x)/(-2.0);//(m/s)
    v_r = ((float)msg.angular.z*AXLE+2.0*(float)msg.linear.x)/2.0;//(m/s)
    //v_l /= (WHEELS_SIZE * 2 * 3.14);//Wheel_speed(1/s)
    //v_r /= (WHEELS_SIZE * 2 * 3.14);//Wheel_speed(1/s)
    v_l *= SPEED;
    v_r *= SPEED;
    motor.Wheels(v_l,v_r);//-100~100
}