Quadrotor

#include "ArduinoHardware.h" // modified version in this directory

#include <ros.h>

#include <std_msgs/UInt16.h>

ros::NodeHandle nh;

std_msgs::UInt16 distance;

ros::Publisher range_up("range_up", &distance);

ros::Publisher range_down("range_down", &distance);

void setup()

{

  nh.initNode();

  nh.advertise(range_up);

  nh.advertise(range_down);

}

void loop()

{

  distance.data = analogRead(0);

  range_up.publish(&distance);

  distance.data = analogRead(1);

  range_down.publish(&distance);

  nh.spinOnce();

}