pinxian wu
HCSR04 with ROS
Dependencies: Pulse mbed ros_lib_kinetic
Revision 0:e70ca69c6311, committed 2017-07-12
- Comitter:
- wupinxian
- Date:
- Wed Jul 12 02:23:53 2017 +0000
- Commit message:
- ROS_HCSR04;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Pulse.lib Wed Jul 12 02:23:53 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/NickRyder/code/Pulse/#fb79a4637a64
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Jul 12 02:23:53 2017 +0000
@@ -0,0 +1,48 @@
+/*
+ * rosserial Publisher Example
+ * Prints "hello world!"
+ */
+
+#include"mbed.h"
+#include"Pulse.h"
+#include"stdio.h"
+#include <ros.h>
+#include <std_msgs/String.h>
+
+
+ros::NodeHandle nh;
+
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+char hello[20] = "How a fucking day!";
+//HCSR04 sonar(PB_0,PB_1) ;
+//PA_6 ->trig PA_7->echo
+PulseInOut trig(PB_1);
+PulseInOut echo(PB_0);
+float hc_distance(void)
+ {
+ long count=0;
+ float distance=0;
+ trig.write_us(1,10);
+ count=echo.read_high_us();
+ distance= float(count*0.017);
+ return distance;
+ }
+
+
+float dist=0.0;
+int main() {
+ nh.initNode();
+ nh.advertise(chatter);
+ while (1) {
+
+ dist = hc_distance();
+ sprintf(hello,"%f \n",dist);
+ str_msg.data = hello;
+ chatter.publish( &str_msg );
+ nh.spinOnce();
+ wait_ms(1000);
+
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Jul 12 02:23:53 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/64910690c574 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ros_lib_kinetic.lib Wed Jul 12 02:23:53 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/garyservin/code/ros_lib_kinetic/#a849bf78d77f