Integration of multiple sensors with ROS Serial
Dependencies: mbed HCSR04 VEML7700
main.cpp
- Committer:
- zillkhan
- Date:
- 2021-10-23
- Revision:
- 1:3a7e10c8a325
- Parent:
- 0:d409714cebbf
- Child:
- 2:b847309a754d
File content as of revision 1:3a7e10c8a325:
#include <ros.h> #include <std_msgs/Float32.h> #include <std_msgs/String.h> #include "SHARPIR.h" //Sharp IR sensor analog pin defination SHARPIR Sensor(A0); ros::NodeHandle nh; //SharpIR publisher initialization std_msgs::Float32 data; ros::Publisher sharpir("sharpir", &data); int main() { float DistanceCM; //Variable to store distance in CM from SharpIR sensor //Initalizing and advertising topics nh.initNode(); nh.advertise(sharpir); while (1) { //creates an eternal loop DistanceCM=Sensor.cm(); data.data = DistanceCM; sharpir.publish( &data ); nh.spinOnce(); wait_ms(1000); } }