root / quad2 / arduino / src / ros_lib / examples / Blink / Blink.pde @ c1426757
History | View | Annotate | Download (448 Bytes)
1 | c1426757 | Tom Mullins | /* |
---|---|---|---|
2 | * rosserial Subscriber Example |
||
3 | * Blinks an LED on callback |
||
4 | */ |
||
5 | |||
6 | #include <ros.h> |
||
7 | #include <std_msgs/Empty.h> |
||
8 | |||
9 | ros::NodeHandle nh; |
||
10 | |||
11 | void messageCb( const std_msgs::Empty& toggle_msg){ |
||
12 | digitalWrite(13, HIGH-digitalRead(13)); // blink the led |
||
13 | } |
||
14 | |||
15 | ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb ); |
||
16 | |||
17 | void setup() |
||
18 | { |
||
19 | pinMode(13, OUTPUT); |
||
20 | nh.initNode(); |
||
21 | nh.subscribe(sub); |
||
22 | } |
||
23 | |||
24 | void loop() |
||
25 | { |
||
26 | nh.spinOnce(); |
||
27 | delay(1); |
||
28 | } |