ROS学习之Arduino篇——Arduino发布(Publisher)节点

#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!";
 
void setup(){
  nh.initNode();
  nh.advertise(chatter);
}
 
void loop(){
  str_msg.data = hello;
  chatter.publish( &str_msg );
  nh.spinOnce();
  delay(1000);
}

把上面代码烧写到Arduino板子里

roscore
rosrun rosserial_python serial_node.py /dev/ttyACM0
rostopic echo chatter