nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.
Dependencies: rosserial_mbed_lib mbed Servo
tests/float64_test.cpp@0:06fc856e99ca, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:16 2011 +0000
- Revision:
- 0:06fc856e99ca
- Child:
- 1:098e75fd5ad2
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:06fc856e99ca | 1 | //#define COMPLIE_FLOAT64_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 2 | #ifdef COMPILE_FLOAT64_CODE_ROSSERIAL |
| nucho | 0:06fc856e99ca | 3 | |
| nucho | 0:06fc856e99ca | 4 | /* |
| nucho | 0:06fc856e99ca | 5 | * rosserial::std_msgs::Float64 Test |
| nucho | 0:06fc856e99ca | 6 | * Receives a Float64 input, subtracts 1.0, and publishes it |
| nucho | 0:06fc856e99ca | 7 | */ |
| nucho | 0:06fc856e99ca | 8 | |
| nucho | 0:06fc856e99ca | 9 | #include "mbed.h" |
| nucho | 0:06fc856e99ca | 10 | #include <ros.h> |
| nucho | 0:06fc856e99ca | 11 | #include <std_msgs/Float64.h> |
| nucho | 0:06fc856e99ca | 12 | |
| nucho | 0:06fc856e99ca | 13 | |
| nucho | 0:06fc856e99ca | 14 | ros::NodeHandle nh; |
| nucho | 0:06fc856e99ca | 15 | |
| nucho | 0:06fc856e99ca | 16 | float x; |
| nucho | 0:06fc856e99ca | 17 | DigitalOut myled(LED1); |
| nucho | 0:06fc856e99ca | 18 | |
| nucho | 0:06fc856e99ca | 19 | void messageCb( const std_msgs::Float64& msg) { |
| nucho | 0:06fc856e99ca | 20 | x = msg.data - 1.0; |
| nucho | 0:06fc856e99ca | 21 | myled = !myled; // blink the led |
| nucho | 0:06fc856e99ca | 22 | } |
| nucho | 0:06fc856e99ca | 23 | |
| nucho | 0:06fc856e99ca | 24 | std_msgs::Float64 test; |
| nucho | 0:06fc856e99ca | 25 | ros::Subscriber<std_msgs::Float64> s("your_topic", &messageCb); |
| nucho | 0:06fc856e99ca | 26 | ros::Publisher p("my_topic", &test); |
| nucho | 0:06fc856e99ca | 27 | |
| nucho | 0:06fc856e99ca | 28 | int main() { |
| nucho | 0:06fc856e99ca | 29 | nh.initNode(); |
| nucho | 0:06fc856e99ca | 30 | nh.advertise(p); |
| nucho | 0:06fc856e99ca | 31 | nh.subscribe(s); |
| nucho | 0:06fc856e99ca | 32 | while (1) { |
| nucho | 0:06fc856e99ca | 33 | test.data = x; |
| nucho | 0:06fc856e99ca | 34 | p.publish( &test ); |
| nucho | 0:06fc856e99ca | 35 | nh.spinOnce(); |
| nucho | 0:06fc856e99ca | 36 | wait_ms(10); |
| nucho | 0:06fc856e99ca | 37 | } |
| nucho | 0:06fc856e99ca | 38 | } |
| nucho | 0:06fc856e99ca | 39 | #endif |