root / quad2 / arduino / src / ros_lib / examples / HelloWorld / HelloWorld.pde @ c1426757
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1 | c1426757 | Tom Mullins | /* |
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2 | * rosserial Publisher Example |
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3 | * Prints "hello world!" |
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4 | */ |
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5 | |||
6 | #include <ros.h> |
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7 | #include <std_msgs/String.h> |
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8 | |||
9 | ros::NodeHandle nh; |
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10 | |||
11 | std_msgs::String str_msg; |
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12 | ros::Publisher chatter("chatter", &str_msg); |
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13 | |||
14 | char hello[13] = "hello world!"; |
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15 | |||
16 | void setup() |
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17 | { |
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18 | nh.initNode(); |
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19 | nh.advertise(chatter); |
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20 | } |
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21 | |||
22 | void loop() |
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23 | { |
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24 | str_msg.data = hello; |
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25 | chatter.publish( &str_msg ); |
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26 | nh.spinOnce(); |
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27 | delay(1000); |
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28 | } |