HAVRM mine / Mbed 2 deprecated rosserial_mbed_F64MA

rosserial mbed for Float64MultiArray (In this program, the topic name is "chatter"). you need the node at PC who send Float64MultiArray (In this program, the topic name is "req". And the number of data is same as the returning data ("chatter", in this program, 5 data)). The example is written at comment.

Dependencies:   mbed ros_lib_indigo

Fork of rosserial_mbed_hello_world_publisher by Gary Servin

main.cpp@2:b740e3e4c6c9, 2016-10-25 (annotated)

Committer:
hirokimineshita
Date:
Tue Oct 25 07:12:07 2016 +0000
Revision:
2:b740e3e4c6c9
Parent:
1:c7411b1ccd0f 
add ROS node program

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:17fd7572aedb 1 /*
garyservin 0:17fd7572aedb 2 * rosserial Publisher Example
garyservin 0:17fd7572aedb 3 * Prints "hello world!"
garyservin 0:17fd7572aedb 4 */
garyservin 0:17fd7572aedb 5
hirokimineshita 2:b740e3e4c6c9 6 /* ROS node program
hirokimineshita 2:b740e3e4c6c9 7 #include <ros/ros.h>
hirokimineshita 2:b740e3e4c6c9 8 #include <std_msgs/Float64MultiArray.h>
garyservin 0:17fd7572aedb 9
hirokimineshita 2:b740e3e4c6c9 10 int main(int argc,char **argv){
hirokimineshita 2:b740e3e4c6c9 11 ros::init(argc,argv,"serial_test");
hirokimineshita 2:b740e3e4c6c9 12 ros::NodeHandle n;
hirokimineshita 2:b740e3e4c6c9 13 ros::Publisher req_pub=n.advertise<std_msgs::Float64MultiArray>("req", 1000);
garyservin 0:17fd7572aedb 14
hirokimineshita 2:b740e3e4c6c9 15 ros::Rate loop_rate(174);
hirokimineshita 2:b740e3e4c6c9 16 while (ros::ok()){
hirokimineshita 2:b740e3e4c6c9 17 std_msgs::Float64MultiArray msg;
hirokimineshita 2:b740e3e4c6c9 18 msg.data.clear();
hirokimineshita 2:b740e3e4c6c9 19 for(int i=0;i<5;i++)msg.data.push_back(0);
hirokimineshita 2:b740e3e4c6c9 20 req_pub.publish(msg);
hirokimineshita 2:b740e3e4c6c9 21 ROS_INFO("send");
hirokimineshita 2:b740e3e4c6c9 22 ros::spinOnce();
hirokimineshita 2:b740e3e4c6c9 23 loop_rate.sleep();
hirokimineshita 2:b740e3e4c6c9 24 }
hirokimineshita 2:b740e3e4c6c9 25 return 0;
hirokimineshita 1:c7411b1ccd0f 26 }
hirokimineshita 1:c7411b1ccd0f 27 */
hirokimineshita 1:c7411b1ccd0f 28
hirokimineshita 1:c7411b1ccd0f 29 #include <ros.h>
hirokimineshita 1:c7411b1ccd0f 30 #include "mbed.h"
hirokimineshita 1:c7411b1ccd0f 31 #include <std_msgs/Float64MultiArray.h>
hirokimineshita 1:c7411b1ccd0f 32
hirokimineshita 1:c7411b1ccd0f 33 //ROS Float32Multiarray messages
hirokimineshita 1:c7411b1ccd0f 34 ros::NodeHandle nh;
hirokimineshita 1:c7411b1ccd0f 35 std_msgs::Float64MultiArray send;
hirokimineshita 1:c7411b1ccd0f 36 ros::Publisher chatter("chatter", &send);
hirokimineshita 1:c7411b1ccd0f 37
hirokimineshita 1:c7411b1ccd0f 38 //Functions
hirokimineshita 1:c7411b1ccd0f 39 void ros_callback( const std_msgs::Float64MultiArray& req);
hirokimineshita 1:c7411b1ccd0f 40 ros::Subscriber<std_msgs::Float64MultiArray> sub("req", ros_callback);
hirokimineshita 1:c7411b1ccd0f 41
hirokimineshita 1:c7411b1ccd0f 42 DigitalOut led = LED1;
hirokimineshita 1:c7411b1ccd0f 43 double num=0;
hirokimineshita 1:c7411b1ccd0f 44
hirokimineshita 1:c7411b1ccd0f 45 void setup()
hirokimineshita 1:c7411b1ccd0f 46 {
hirokimineshita 1:c7411b1ccd0f 47 // Serial.begin(115200);
hirokimineshita 1:c7411b1ccd0f 48 //ROS
hirokimineshita 1:c7411b1ccd0f 49 nh.getHardware()->setBaud(115200);
hirokimineshita 1:c7411b1ccd0f 50 nh.initNode();
hirokimineshita 1:c7411b1ccd0f 51 nh.advertise(chatter);
hirokimineshita 1:c7411b1ccd0f 52 nh.subscribe(sub);
hirokimineshita 1:c7411b1ccd0f 53
hirokimineshita 1:c7411b1ccd0f 54 send.data_length = 5;
hirokimineshita 1:c7411b1ccd0f 55 }
hirokimineshita 1:c7411b1ccd0f 56
hirokimineshita 1:c7411b1ccd0f 57 void loop()
hirokimineshita 1:c7411b1ccd0f 58 {
hirokimineshita 1:c7411b1ccd0f 59 nh.spinOnce();
hirokimineshita 1:c7411b1ccd0f 60 }
hirokimineshita 1:c7411b1ccd0f 61
hirokimineshita 1:c7411b1ccd0f 62 void ros_callback( const std_msgs::Float64MultiArray& req){
hirokimineshita 1:c7411b1ccd0f 63 send=req;
hirokimineshita 1:c7411b1ccd0f 64 num+=0.1;
hirokimineshita 1:c7411b1ccd0f 65 for(int i=0;i<5;i++)send.data[i]=num;
hirokimineshita 1:c7411b1ccd0f 66 chatter.publish(&send);
hirokimineshita 1:c7411b1ccd0f 67 led=!led;
hirokimineshita 1:c7411b1ccd0f 68 }
hirokimineshita 1:c7411b1ccd0f 69
hirokimineshita 1:c7411b1ccd0f 70 int main(){
hirokimineshita 1:c7411b1ccd0f 71 setup();
hirokimineshita 1:c7411b1ccd0f 72 while(1)loop();
garyservin 0:17fd7572aedb 73 }