30 lines
448 B
Plaintext
30 lines
448 B
Plaintext
/*
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* rosserial Subscriber Example
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* Blinks an LED on callback
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*/
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#include <ros.h>
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#include <std_msgs/Empty.h>
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ros::NodeHandle nh;
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void messageCb( const std_msgs::Empty& toggle_msg){
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digitalWrite(13, HIGH-digitalRead(13)); // blink the led
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}
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ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb );
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void setup()
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{
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pinMode(13, OUTPUT);
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nh.initNode();
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nh.subscribe(sub);
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}
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void loop()
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{
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nh.spinOnce();
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delay(1);
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}
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