Integration of multiple sensors with ROS Serial
Dependencies: mbed HCSR04 VEML7700
Diff: main.cpp
- Revision:
- 1:3a7e10c8a325
- Parent:
- 0:d409714cebbf
- Child:
- 2:b847309a754d
diff -r d409714cebbf -r 3a7e10c8a325 main.cpp --- a/main.cpp Sat Oct 23 06:48:13 2021 +0000 +++ b/main.cpp Sat Oct 23 06:57:18 2021 +0000 @@ -4,24 +4,29 @@ #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); -SHARPIR Sensor(A0); int main() { - float DistanceCM; + 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(); - //sprintf (buffer, "%f", DistanceCM); + data.data = DistanceCM; sharpir.publish( &data );