Zill Khan / Mbed 2 deprecated ROSSerial_MultipleSensors

Integration of multiple sensors with ROS Serial

Dependencies:   mbed HCSR04 VEML7700

main.cpp@1:3a7e10c8a325, 2021-10-23 (annotated)

Committer:
zillkhan
Date:
Sat Oct 23 06:57:18 2021 +0000
Revision:
1:3a7e10c8a325
Parent:
0:d409714cebbf
Child:
2:b847309a754d
Adding comments

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zillkhan 0:d409714cebbf 1 #include <ros.h>
zillkhan 0:d409714cebbf 2 #include <std_msgs/Float32.h>
zillkhan 0:d409714cebbf 3 #include <std_msgs/String.h>
zillkhan 0:d409714cebbf 4 #include "SHARPIR.h"
zillkhan 0:d409714cebbf 5
zillkhan 0:d409714cebbf 6
zillkhan 1:3a7e10c8a325 7 //Sharp IR sensor analog pin defination
zillkhan 1:3a7e10c8a325 8 SHARPIR Sensor(A0);
zillkhan 1:3a7e10c8a325 9
zillkhan 0:d409714cebbf 10 ros::NodeHandle nh;
zillkhan 0:d409714cebbf 11
zillkhan 1:3a7e10c8a325 12
zillkhan 1:3a7e10c8a325 13 //SharpIR publisher initialization
zillkhan 0:d409714cebbf 14 std_msgs::Float32 data;
zillkhan 0:d409714cebbf 15 ros::Publisher sharpir("sharpir", &data);
zillkhan 0:d409714cebbf 16
zillkhan 0:d409714cebbf 17
zillkhan 0:d409714cebbf 18
zillkhan 0:d409714cebbf 19 int main() {
zillkhan 1:3a7e10c8a325 20 float DistanceCM; //Variable to store distance in CM from SharpIR sensor
zillkhan 0:d409714cebbf 21
zillkhan 1:3a7e10c8a325 22 //Initalizing and advertising topics
zillkhan 0:d409714cebbf 23 nh.initNode();
zillkhan 0:d409714cebbf 24 nh.advertise(sharpir);
zillkhan 0:d409714cebbf 25
zillkhan 0:d409714cebbf 26 while (1) { //creates an eternal loop
zillkhan 0:d409714cebbf 27
zillkhan 0:d409714cebbf 28 DistanceCM=Sensor.cm();
zillkhan 1:3a7e10c8a325 29
zillkhan 0:d409714cebbf 30
zillkhan 0:d409714cebbf 31 data.data = DistanceCM;
zillkhan 0:d409714cebbf 32 sharpir.publish( &data );
zillkhan 0:d409714cebbf 33
zillkhan 0:d409714cebbf 34 nh.spinOnce();
zillkhan 0:d409714cebbf 35 wait_ms(1000);
zillkhan 0:d409714cebbf 36 }
zillkhan 0:d409714cebbf 37 }