arduino代码

libraries/Rosserial_Arduino_Library/examples/pubsub/pubsub.pde

@@ -0,0 +1,40 @@
+/*
+ * rosserial PubSub Example
+ * Prints "hello world!" and toggles led
+ */
+
+#include <ros.h>
+#include <std_msgs/String.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 );
+
+
+
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+char hello[13] = "hello world!";
+
+void setup()
+{
+  pinMode(13, OUTPUT);
+  nh.initNode();
+  nh.advertise(chatter);
+  nh.subscribe(sub);
+}
+
+void loop()
+{
+  str_msg.data = hello;
+  chatter.publish( &str_msg );
+  nh.spinOnce();
+  delay(500);
+}