root / quad2 / arduino / src / ros_lib / examples / Logging / Logging.pde @ c1426757
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1 | c1426757 | Tom Mullins | /* |
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2 | * rosserial PubSub Example |
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3 | * Prints "hello world!" and toggles led |
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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 | #include <std_msgs/Empty.h> |
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9 | |||
10 | ros::NodeHandle nh; |
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11 | |||
12 | |||
13 | std_msgs::String str_msg; |
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14 | ros::Publisher chatter("chatter", &str_msg); |
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15 | |||
16 | char hello[13] = "hello world!"; |
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17 | |||
18 | |||
19 | char debug[]= "debug statements"; |
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20 | char info[] = "infos"; |
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21 | char warn[] = "warnings"; |
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22 | char error[] = "errors"; |
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23 | char fatal[] = "fatalities"; |
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24 | |||
25 | void setup() |
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26 | { |
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27 | pinMode(13, OUTPUT); |
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28 | nh.initNode(); |
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29 | nh.advertise(chatter); |
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30 | } |
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31 | |||
32 | void loop() |
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33 | { |
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34 | str_msg.data = hello; |
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35 | chatter.publish( &str_msg ); |
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36 | |||
37 | nh.logdebug(debug); |
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38 | nh.loginfo(info); |
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39 | nh.logwarn(warn); |
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40 | nh.logerror(error); |
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41 | nh.logfatal(fatal); |
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42 | |||
43 | nh.spinOnce(); |
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44 | delay(500); |
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45 | } |