TB3_OpenCR_rosserial_TEST - 8BitsCoding/RobotMentor GitHub Wiki

// turtlebot3_core_config.h

// ...
#include <std_msgs/String.h>
// ...
std_msgs::String string_msg;
ros::Publisher string_pub("test_pub", &string_msg);

// turtlebot3_core.c

// ...
void setup() {
    // ...
    nh.advertise(string_pub);
    // ...
}

void loop() {
    // ...
    std_msgs::String string_msg;
    string_msg.data = "test_msgs";

    string_pub.publish(&string_msg);
    // ...
}

#include <ros.h>

void setup()
{
  DEBUG_SERIAL.begin(57600);

  // Initialize ROS node handle, advertise and subscribe the topics
  nh.initNode();
  nh.getHardware()->setBaud(115200);

  // ...

  nh.advertise(string_pub);
}

void loop()
{
  std_msgs::String string_msg;
  string_msg.data = "test_msgs";

  string_pub.publish(&string_msg);

  nh.spinOnce();
}