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/* 
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 * rosserial Subscriber Example
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 * Blinks an LED on callback
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 */
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#include <ros.h>
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#include <std_msgs/Empty.h>
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ros::NodeHandle  nh;
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void messageCb( const std_msgs::Empty& toggle_msg){
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  digitalWrite(13, HIGH-digitalRead(13));   // blink the led
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}
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ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb );
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void setup()
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{ 
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  pinMode(13, OUTPUT);
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  nh.initNode();
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  nh.subscribe(sub);
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}
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void loop()
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{  
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  nh.spinOnce();
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  delay(1);
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}
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