arduino代码

libraries/Rosserial_Arduino_Library/examples/Esp8266/HelloWorld.ino

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+/*
+ * rosserial Publisher Example
+ * Prints "hello world!"
+ * This intend to connect to a Wifi Access Point 
+ * and a rosserial socket server.
+ * You can launch the rosserial socket server with 
+ * roslaunch rosserial_server socket.launch
+ * The default port is 11411
+ *
+ */
+#include <ESP8266WiFi.h>
+#include <ros.h>
+#include <std_msgs/String.h>
+
+const char* ssid     = "your-ssid";
+const char* password = "your-password";
+// Set the rosserial socket server IP address
+IPAddress server(192,168,1,1);
+// Set the rosserial socket server port
+const uint16_t serverPort = 11411;
+
+ros::NodeHandle nh;
+// Make a chatter publisher
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+// Be polite and say hello
+char hello[13] = "hello world!";
+
+void setup()
+{
+  // Use ESP8266 serial to monitor the process
+  Serial.begin(115200);
+  Serial.println();
+  Serial.print("Connecting to ");
+  Serial.println(ssid);
+
+  // Connect the ESP8266 the the wifi AP
+  WiFi.begin(ssid, password);
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+    Serial.print(".");
+  }
+  Serial.println("");
+  Serial.println("WiFi connected");
+  Serial.println("IP address: ");
+  Serial.println(WiFi.localIP());
+
+  // Set the connection to rosserial socket server
+  nh.getHardware()->setConnection(server, serverPort);
+  nh.initNode();
+
+  // Another way to get IP
+  Serial.print("IP = ");
+  Serial.println(nh.getHardware()->getLocalIP());
+
+  // Start to be polite
+  nh.advertise(chatter);
+}
+
+void loop()
+{
+
+  if (nh.connected()) {
+    Serial.println("Connected");
+    // Say hello
+    str_msg.data = hello;
+    chatter.publish( &str_msg );
+  } else {
+    Serial.println("Not Connected");
+  }
+  nh.spinOnce();
+  // Loop exproximativly at 1Hz
+  delay(1000);
+}