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umhan35/a.cpp

Last active July 23, 2024 19:43
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a.cpp
#include <ros.h>
#include <std_msgs/String.h>
#include <std_srvs/Empty.h>
ros::NodeHandle nh;
bool messageCb(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) {
digitalWrite(LED_BUILTIN, HIGH-digitalRead(LED_BUILTIN)); // blink the led
nh.loginfo("LED is ON");
return true;
}
ros::ServiceServer<std_srvs::Empty::Request, std_srvs::Empty::Response> blinkServer("/led/blink", &messageCb);
void setup()
{
pinMode(LED_BUILTIN, OUTPUT);
nh.initNode();
nh.advertiseService(blinkServer);
}
void loop()
{
digitalWrite(LED_BUILTIN, HIGH); // turn the LED on (HIGH is the voltage level)
delay(10); // wait for a second
digitalWrite(LED_BUILTIN, LOW); // turn the LED off by making the voltage LOW
delay(10); // wait for a second
nh.spinOnce();
}
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