VEXProServoSubscribe.cpp
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00001 /*
00002  * VEXProServoSubscribe.cpp
00003  *
00004  *  Created on: Jul 12, 2012
00005  *      Author: bouchier
00006  *  Drives a servo or motor on VEXPro motor1 connection to the requested value: 0 - 255
00007  *  that is received on subscribed topic servo1
00008  */
00009 
00010 #include <ros.h>
00011 #include <std_msgs/Int32.h>
00012 #include <iostream>
00013 #include <qeservo.h>
00014 using namespace std;
00015 
00016 ros::NodeHandle  nh;
00017 CQEServo &servo = CQEServo::GetRef();
00018 char *rosSrvrIp = "192.168.15.149";
00019 
00020 void messageCb(const std_msgs::Int32& servo1_msg){
00021         int position = servo1_msg.data;
00022         printf("Received subscribed servo position %d\n", position);
00023         servo.SetCommand(0, position);
00024 }
00025 ros::Subscriber<std_msgs::Int32> sub("servo1", messageCb );
00026 
00027 int main() {
00028         //nh.initNode();
00029         nh.initNode(rosSrvrIp);
00030         nh.subscribe(sub);
00031 
00032         while(1) {
00033                   sleep(1);
00034                   nh.spinOnce();
00035         }
00036 }


rosserial_embeddedlinux
Author(s): Paul Bouchier
autogenerated on Mon Oct 6 2014 07:10:50