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Mastering ROS for Robotics Programming - Second Edition by Jonathan Cacace, Lentin Joseph

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ROS - Arduino Publisher and Subscriber example

The first example using the Arduino and ROS interface is a chatter and talker interface. Users can send a String message to the talker topic and Arduino will publish the same message in a chatter topic. The following ROS node is implemented for Arduino, and we will discuss this example in detail:

#include <ros.h> #include <std_msgs/String.h> //Creating Nodehandle ros::NodeHandle nh; //Declaring String variable std_msgs::String str_msg; //Defining Publisher ros::Publisher chatter("chatter", &amp;str_msg); //Defining callback void callback ( const std_msgs::String&amp; msg){ str_msg.data = msg.data; chatter.publish( &amp;str_msg ); } //Defining Subscriber ros::Subscriber<std_msgs::String> sub("talker", ...

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