arduino代码

2026-07-18 18:22:58 +08:00
parent 2b7a320983
commit a2825ed71a
438 changed files with 36538 additions and 0 deletions
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+/*
+ * rosserial Service Client
+ */
+
+#include <ros.h>
+#include <std_msgs/String.h>
+#include <rosserial_arduino/Test.h>
+
+ros::NodeHandle  nh;
+using rosserial_arduino::Test;
+
+ros::ServiceClient<Test::Request, Test::Response> client("test_srv");
+
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+char hello[13] = "hello world!";
+
+void setup()
+{
+  nh.initNode();
+  nh.serviceClient(client);
+  nh.advertise(chatter);
+  while(!nh.connected()) nh.spinOnce();
+  nh.loginfo("Startup complete");
+}
+
+void loop()
+{
+  Test::Request req;
+  Test::Response res;
+  req.input = hello;
+  client.call(req, res);
+  str_msg.data = res.output;
+  chatter.publish( &str_msg );
+  nh.spinOnce();
+  delay(100);
+}