Zill Khan / Mbed 2 deprecated ROS_BME680_test

The integration of BME680 sensor with Nucleo board. ROS Enabled

Dependencies:   mbed

main.cpp@2:816ad5bfa327, 2021-09-28 (annotated)

Committer:
zillkhan
Date:
Tue Sep 28 12:41:58 2021 +0000
Revision:
2:816ad5bfa327
Parent:
1:ca82df4237eb 
final changes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Tomas 0:d94848220e71 1 #include "mbed.h"
zillkhan 1:ca82df4237eb 2 #include <ros.h>
zillkhan 2:816ad5bfa327 3 #include "std_msgs/String.h"
zillkhan 2:816ad5bfa327 4 #include "mbed_bme680.h"
zillkhan 2:816ad5bfa327 5
zillkhan 2:816ad5bfa327 6 #define I2C_SDA D14
zillkhan 2:816ad5bfa327 7 #define I2C_SCL D15
zillkhan 2:816ad5bfa327 8
zillkhan 2:816ad5bfa327 9 I2C i2c(I2C_SDA, I2C_SCL); // Used inside the BME680 Mbed Lib.
zillkhan 2:816ad5bfa327 10
zillkhan 2:816ad5bfa327 11 BME680 bme680(0xEE);
Tomas 0:d94848220e71 12
zillkhan 1:ca82df4237eb 13
zillkhan 2:816ad5bfa327 14 ros::NodeHandle nh;
zillkhan 1:ca82df4237eb 15
zillkhan 2:816ad5bfa327 16 std_msgs::String msg;
zillkhan 2:816ad5bfa327 17 ros::Publisher sensor_bme("sensor_bme", &msg);
zillkhan 1:ca82df4237eb 18
Tomas 0:d94848220e71 19 int main() {
zillkhan 1:ca82df4237eb 20
zillkhan 2:816ad5bfa327 21 if (!bme680.begin()) {
zillkhan 2:816ad5bfa327 22 printf("BME680 Begin failed \r\n");
zillkhan 2:816ad5bfa327 23 return 1;
zillkhan 2:816ad5bfa327 24 }
zillkhan 2:816ad5bfa327 25 nh.initNode();
zillkhan 2:816ad5bfa327 26 nh.advertise(sensor_bme);
zillkhan 2:816ad5bfa327 27
Tomas 0:d94848220e71 28 while (1) { //creates an eternal loop
zillkhan 2:816ad5bfa327 29 char* buffer = (char*) malloc(sizeof(char) * 50);
zillkhan 2:816ad5bfa327 30
zillkhan 2:816ad5bfa327 31 bme680.performReading();
zillkhan 2:816ad5bfa327 32 sprintf (buffer, "Temp: %0.2f degC,Humi: %0.2f %%,Pres: %0.2f hPa,VOC: %0.2f KOhms", bme680.getTemperature(),bme680.getHumidity(),(bme680.getPressure() / 100.0),(bme680.getGasResistance() / 1000.0));
zillkhan 2:816ad5bfa327 33
zillkhan 1:ca82df4237eb 34
zillkhan 2:816ad5bfa327 35 msg.data = buffer;
zillkhan 2:816ad5bfa327 36 sensor_bme.publish(&msg);
zillkhan 2:816ad5bfa327 37
zillkhan 1:ca82df4237eb 38 nh.spinOnce();
zillkhan 2:816ad5bfa327 39 free(buffer);
zillkhan 1:ca82df4237eb 40 wait_ms(1000);
zillkhan 2:816ad5bfa327 41
Tomas 0:d94848220e71 42 }
Tomas 0:d94848220e71 43 }