Zill Khan / Mbed 2 deprecated ROSSerial_MultipleSensors

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);
    }
}