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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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