46 lines
717 B
Plaintext
46 lines
717 B
Plaintext
/*
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* rosserial PubSub Example
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* Prints "hello world!" and toggles led
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*/
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#include <ros.h>
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#include <std_msgs/String.h>
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#include <std_msgs/Empty.h>
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ros::NodeHandle nh;
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std_msgs::String str_msg;
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ros::Publisher chatter("chatter", &str_msg);
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char hello[13] = "hello world!";
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char debug[]= "debug statements";
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char info[] = "infos";
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char warn[] = "warnings";
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char error[] = "errors";
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char fatal[] = "fatalities";
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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.advertise(chatter);
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}
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void loop()
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{
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str_msg.data = hello;
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chatter.publish( &str_msg );
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nh.logdebug(debug);
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nh.loginfo(info);
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nh.logwarn(warn);
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nh.logerror(error);
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nh.logfatal(fatal);
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nh.spinOnce();
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delay(500);
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}
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