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 +1,38 @@
+/* 
+ * rosserial::std_msgs::Float64 Test
+ * Receives a Float64 input, subtracts 1.0, and publishes it
+ */
+
+#include <ros.h>
+#include <std_msgs/Float64.h>
+
+
+ros::NodeHandle nh;
+
+float x; 
+
+void messageCb( const std_msgs::Float64& msg){
+  x = msg.data - 1.0;
+  digitalWrite(13, HIGH-digitalRead(13));   // blink the led
+}
+
+std_msgs::Float64 test;
+ros::Subscriber<std_msgs::Float64> s("your_topic", &messageCb);
+ros::Publisher p("my_topic", &test);
+
+void setup()
+{
+  pinMode(13, OUTPUT);
+  nh.initNode();
+  nh.advertise(p);
+  nh.subscribe(s);
+}
+
+void loop()
+{
+  test.data = x;
+  p.publish( &test );
+  nh.spinOnce();
+  delay(10);
+}
+