Build Autonomous Mobile Robot from Scratch using ROS by Rajesh Subramanian

Author:Rajesh Subramanian
Language: eng
Format: epub
ISBN: 9781484296455
Publisher: Apress

Using the delay() method and the digitalWrite() function, the program turns the LED on and off and delays a certain amount of time inside the loop.

Each time a toggle happens, the count variable is increased.

The callback method, messageCb(), is called whenever a message on the toggle led topic is received. It invokes the blink_led() method to turn the LED on and off for a predetermined number of times after setting the count variable to 0.

Line 40 creates a ROS subscriber called sub that subscribes to the toggle_led topic and sets its callback function to messageCb().

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