Arduino Code

Code below is uploaded in the Arduino. Which subscribes to topics that controls the DC motor and steering servo motors.

#include <Servo.h>

#include <ros.h>

#include <std_msgs/Int32.h>

Servo myservo0, myservo1, ESC;

float servo0, servo1, esc;

ros::NodeHandle nh;

void servo0Cb(const std_msgs::Int32 &msg0)

{

servo0=msg0.data;

myservo0.write(servo0);

Serial.println("servo0 angle:");

Serial.println(servo0);

}

void servo1Cb(const std_msgs::Int32 &msg1)

{

servo1=msg1.data;

myservo1.write(servo1);

Serial.println("servo1 angle:");

Serial.println(servo1);

}

void escCb(const std_msgs::Int32 &msg2)

{

esc=msg2.data;

ESC.write(esc);

Serial.println("ESC speed:");

Serial.println(esc);

}

ros::Subscriber<std_msgs::Int32> sub0("servo0", &servo0Cb);

ros::Subscriber<std_msgs::Int32> sub1("servo1", &servo1Cb);

ros::Subscriber<std_msgs::Int32> sub2("esc", &escCb);

void setup() {

Serial.begin(57600);

myservo0.attach(2);

myservo1.attach(3);

ESC.attach(4);

nh.initNode();

nh.subscribe(sub0);

nh.subscribe(sub1);

nh.subscribe(sub2);

}

void loop() {

nh.spinOnce();

delay(10);

}