root / quad2 / arduino / src / main.cpp @ 98e35b23
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#include "ArduinoHardware.h" // modified version in this directory |
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#include <ros.h> |
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#include <std_msgs/UInt16.h> |
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ros::NodeHandle nh; |
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std_msgs::UInt16 distance; |
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ros::Publisher range_up("range_up", &distance);
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ros::Publisher range_down("range_down", &distance);
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void setup()
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{ |
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nh.initNode(); |
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nh.advertise(range_up); |
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nh.advertise(range_down); |
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} |
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void loop()
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{ |
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distance.data = analogRead(0);
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range_up.publish(&distance); |
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distance.data = analogRead(1);
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range_down.publish(&distance); |
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nh.spinOnce(); |
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} |