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
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
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 | } |