arduino代码

libraries/Rosserial_Arduino_Library/extras/tests/time_test/time_test.pde

@@ -0,0 +1,30 @@
+/* 
+ * rosserial::std_msgs::Time Test
+ * Publishes current time
+ */
+
+#include <ros.h>
+#include <ros/time.h>
+#include <std_msgs/Time.h>
+
+
+ros::NodeHandle  nh;
+
+std_msgs::Time test;
+ros::Publisher p("my_topic", &test);
+
+void setup()
+{
+  pinMode(13, OUTPUT);
+  nh.initNode();
+  nh.advertise(p);
+}
+
+void loop()
+{  
+  test.data = nh.now();
+  p.publish( &test );
+  nh.spinOnce();
+  delay(10);
+}
+