root / quad2 / arduino / src / ros_lib / tests / float64_test / float64_test.pde @ c1426757
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/* |
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* rosserial::std_msgs::Float64 Test |
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* Receives a Float64 input, subtracts 1.0, and publishes it |
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*/ |
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#include <ros.h> |
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#include <std_msgs/Float64.h> |
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ros::NodeHandle nh; |
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float x; |
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void messageCb( const std_msgs::Float64& msg){ |
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x = msg.data - 1.0; |
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digitalWrite(13, HIGH-digitalRead(13)); // blink the led |
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} |
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std_msgs::Float64 test; |
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ros::Subscriber<std_msgs::Float64> s("your_topic", &messageCb); |
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ros::Publisher p("my_topic", &test); |
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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.advertise(p); |
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nh.subscribe(s); |
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} |
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void loop() |
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{ |
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test.data = x; |
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p.publish( &test ); |
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nh.spinOnce(); |
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delay(10); |
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} |
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