HelloWorld.cpp

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/*
 * rosserial Publisher Example
 * Prints "hello world!"
 */

#include"mbed.h"
#include <ros.h>
#include <std_msgs/String.h>

ros::NodeHandle  nh;

std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);

char hello[13] = "hello world!";

DigitalOut led = LED1;

int main() {
    nh.initNode();
    nh.advertise(chatter);

    while (1) {
        led = !led;
        str_msg.data = hello;
        chatter.publish( &str_msg );
        nh.spinOnce();
        wait_ms(1000);
    }
}