ibrncfe / ROS_STM32_rosserial

Programming a STM32F3 (Board STM32F303VCTx) as ros node using Eclipse and STM32_HAL_Driver

ROS_STM32_rosserial

Programming a STM32F3 (Board STM32F303VCTx) for as ros node using stm32_HAL library Eclipse Board STM32f3Discovery

Example of a node 'chatter' between PC and STM32:

ros::NodeHandle nh;
std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);

//inside main

const char * hello = "Hello World!!";

int chatter_interval = 1000.0 / 2;
int chatter_last = HAL_GetTick();

//in while loop:

if (nh.connected())
{
    if(HAL_GetTick() - chatter_last > chatter_interval)
    {
        str_msg.data = hello;
        chatter.publish(&str_msg);
        chatter_last = HAL_GetTick();
    }
}

nh.spinOnce();