root / quad2 / arduino / src / ros_lib / examples / Blink / Blink.pde @ c1426757
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/* |
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* rosserial Subscriber Example |
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* Blinks an LED on callback |
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*/ |
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#include <ros.h> |
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#include <std_msgs/Empty.h> |
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ros::NodeHandle nh; |
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void messageCb( const std_msgs::Empty& toggle_msg){ |
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digitalWrite(13, HIGH-digitalRead(13)); // blink the led |
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} |
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ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb ); |
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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.subscribe(sub); |
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} |
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void loop() |
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{ |
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nh.spinOnce(); |
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delay(1); |
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} |
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