a1012112796
feaf439329
- 继承自 MinHandler - 配置参数化 - 尝试使用launnch 文件 Signed-off-by: a1012112796 <1012112796@qq.com>
47 lines
1.1 KiB
C++
47 lines
1.1 KiB
C++
#include "test_topic/minSubscriber.h"
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MinSubscriber::MinSubscriber(int argc, char **argv):
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MinHandler(argc, argv, "serial_sender")
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{
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}
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bool MinSubscriber::node_init(void)
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{
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std::string port, topic;
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int baud = 115200;
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ros::param::param<std::string>("~port", port, "/dev/ttyACM0");
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ros::param::param<int>("~baud", baud, 57600);
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ros::param::param<std::string>("~topic", topic, "test_topic");
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ROS_INFO("will listen '%s' tiopic", topic.c_str());
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_sub = _node->subscribe<MsgType>(topic, 200, boost::bind(&MinSubscriber::callback, this, _1));
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if (!_serial.open(port, baud, 1, 8, 'N'))
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{
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ROS_ERROR("open serial '%s' failed!", port.c_str());
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return false;
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}
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return true;
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}
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MinSubscriber::~MinSubscriber()
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{
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_serial.close();
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}
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void MinSubscriber::callback(const boost::shared_ptr<MsgType const> &msg)
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{
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ROS_INFO("I heard: [%s]", msg->data.c_str());
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_serial.send(msg->data.c_str(), strlen(msg->data.c_str()));
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}
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int main(int argc, char *argv[])
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{
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MinSubscriber *nh = new MinSubscriber(argc, argv);
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nh->run(4);
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free(nh);
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return 0;
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}
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