root / quad2 / arduino / src / ros_lib / examples / pubsub / pubsub.pde @ c1426757
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1 | c1426757 | Tom Mullins | /* |
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2 | * rosserial PubSub Example |
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3 | * Prints "hello world!" and toggles led |
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4 | */ |
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5 | |||
6 | #include <ros.h> |
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7 | #include <std_msgs/String.h> |
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8 | #include <std_msgs/Empty.h> |
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9 | |||
10 | ros::NodeHandle nh; |
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11 | |||
12 | |||
13 | void messageCb( const std_msgs::Empty& toggle_msg){ |
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14 | digitalWrite(13, HIGH-digitalRead(13)); // blink the led |
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15 | } |
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16 | |||
17 | ros::Subscriber<std_msgs::Empty> sub("toggle_led", messageCb ); |
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18 | |||
19 | |||
20 | |||
21 | std_msgs::String str_msg; |
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22 | ros::Publisher chatter("chatter", &str_msg); |
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23 | |||
24 | char hello[13] = "hello world!"; |
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25 | |||
26 | void setup() |
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27 | { |
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28 | pinMode(13, OUTPUT); |
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29 | nh.initNode(); |
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30 | nh.advertise(chatter); |
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31 | nh.subscribe(sub); |
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32 | } |
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33 | |||
34 | void loop() |
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35 | { |
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36 | str_msg.data = hello; |
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37 | chatter.publish( &str_msg ); |
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38 | nh.spinOnce(); |
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39 | delay(500); |
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40 | } |