arduino代码

2026-07-18 18:22:58 +08:00
parent 2b7a320983
commit a2825ed71a
438 changed files with 36538 additions and 0 deletions
@@ -0,0 +1,40 @@
+/*
+ * rosserial Service Server
+ */
+
+#include <ros.h>
+#include <std_msgs/String.h>
+#include <rosserial_arduino/Test.h>
+
+ros::NodeHandle  nh;
+using rosserial_arduino::Test;
+
+int i;
+void callback(const Test::Request & req, Test::Response & res){
+  if((i++)%2)
+    res.output = "hello";
+  else
+    res.output = "world";
+}
+
+ros::ServiceServer<Test::Request, Test::Response> server("test_srv",&callback);
+
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+char hello[13] = "hello world!";
+
+void setup()
+{
+  nh.initNode();
+  nh.advertiseService(server);
+  nh.advertise(chatter);
+}
+
+void loop()
+{
+  str_msg.data = hello;
+  chatter.publish( &str_msg );
+  nh.spinOnce();
+  delay(10);
+}