Hi all,

So I have two ROS nodes, one in c++ and another in Arduino. I built a custom message (DataToArduino.h) in the c++ node in which i send two int arrays and one string to the arduino:

Then, in the arduino node I wanted to be able to take those values out, like intensity[0], intensity[1], etc, so I did the following:

#include <projecto/DataToArduino.h>
#include <ros.h>
#include <std_msgs/Int64.h>

ros::NodeHandle nh;

int duration[10]; 
int location[10];
int x;

void messageCb( const projecto::DataToArduino& subscMsg){
  for(int j=0;j<10;j++)
  {
    duration[j] = subscMsg.intensity[j];
    location[j] = subscMsg.location[j];
  }
  x = duration[5];
}

std_msgs::Int64 test;

ros::Subscriber<projecto::DataToArduino> s("chatter", &messageCb);
ros::Publisher p("my_topic", &test);

void setup()
{  
nh.initNode();
  nh.subscribe(s);
  nh.advertise(p);

}

void loop()
{
  test.data = x;
  p.publish( &test );
  nh.spinOnce();
}

I created a publisher topic so I could see some data to check if what I was receiving was ok. However, when I checked the echo of the topic in the terminal the result was always data 0 and I don't understand why.

Do you have any idea in what the problem can be and any suggestions?

Thank you so much!

Update: I thank that what happened is that my communication with ROS and Arduino stopped working, but I don't know why, since it worked fine before...

My c++ code works well with another c++ node, so I assume the problem is in the arduino part.