arduino代码

libraries/Rosserial_Arduino_Library/examples/Blink/Blink.pde

@@ -0,0 +1,29 @@
+/* 
+ * rosserial Subscriber Example
+ * Blinks an LED on callback
+ */
+
+#include <ros.h>
+#include <std_msgs/Empty.h>
+
+ros::NodeHandle  nh;
+
+void messageCb( const std_msgs::Empty& toggle_msg){
+  digitalWrite(13, HIGH-digitalRead(13));   // blink the led
+}
+
+ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb );
+
+void setup()
+{ 
+  pinMode(13, OUTPUT);
+  nh.initNode();
+  nh.subscribe(sub);
+}
+
+void loop()
+{  
+  nh.spinOnce();
+  delay(1);
+}
+