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Here is an simple example:

#if (ARDUINO >= 100)
 #include <Arduino.h>
#else
 #include <WProgram.h>
#endif

#include <Servo.h> 
#include <ros.h>
#include <std_msgs/UInt16.h>

ros::NodeHandle  nh;

Servo servo1;
Servo servo2;

void servo1_cb( const std_msgs::UInt16&  cmd_msg){
  servo1.write(cmd_msg.data); //set servo angle, should be from 0-180  
  digitalWrite(13, HIGH-digitalRead(13));  //toggle led  
}

void servo2_cb( const std_msgs::UInt16&  cmd_msg){
  servo2.write(cmd_msg.data); //set servo angle, should be from 0-180  
  //digitalWrite(13, HIGH-digitalRead(13));  //toggle led  
}
ros::Subscriber<std_msgs::UInt16> sub1("servo1", servo1_cb);
ros::Subscriber<std_msgs::UInt16> sub2("servo2", servo2_cb);

void setup(){
  pinMode(13, OUTPUT);

  nh.initNode();
  nh.subscribe(sub1);
  nh.subscribe(sub2);

  servo1.attach(9); //attach it to pin 9
  servo2.attach(10);//attach it to pin10
}

void loop(){
  nh.spinOnce();
  delay(20);
}

I tried with UInt16MultipleArray but can not make it works. Hope some one can come up with more elegant solution.

Here is an simple example:

#if (ARDUINO >= 100)
 #include <Arduino.h>
#else
 #include <WProgram.h>
#endif

#include <Servo.h> 
#include <ros.h>
#include <std_msgs/UInt16.h>

ros::NodeHandle  nh;

Servo servo1;
Servo servo2;

void servo1_cb( const std_msgs::UInt16&  cmd_msg){
  servo1.write(cmd_msg.data); //set servo angle, should be from 0-180  
  digitalWrite(13, HIGH-digitalRead(13));  //toggle led  
}

void servo2_cb( const std_msgs::UInt16&  cmd_msg){
  servo2.write(cmd_msg.data); //set servo angle, should be from 0-180  
  //digitalWrite(13, HIGH-digitalRead(13));  //toggle led  
}
ros::Subscriber<std_msgs::UInt16> sub1("servo1", servo1_cb);
ros::Subscriber<std_msgs::UInt16> sub2("servo2", servo2_cb);

void setup(){
  pinMode(13, OUTPUT);

  nh.initNode();
  nh.subscribe(sub1);
  nh.subscribe(sub2);

  servo1.attach(9); //attach it to pin 9
  servo2.attach(10);//attach it to pin10
}

void loop(){
  nh.spinOnce();
  delay(20);
}

I tried with UInt16MultipleArray UInt16MultiArray but can not make it works. Hope some one can come up with more elegant solution.

Here is an simple example:

#if (ARDUINO >= 100)
 #include <Arduino.h>
#else
 #include <WProgram.h>
#endif

#include <Servo.h> 
#include <ros.h>
#include <std_msgs/UInt16.h>

ros::NodeHandle  nh;

Servo servo1;
Servo servo2;

void servo1_cb( const std_msgs::UInt16&  cmd_msg){
  servo1.write(cmd_msg.data); //set servo angle, should be from 0-180  
  digitalWrite(13, HIGH-digitalRead(13));  //toggle led  
}

void servo2_cb( const std_msgs::UInt16&  cmd_msg){
  servo2.write(cmd_msg.data); //set servo angle, should be from 0-180  
  //digitalWrite(13, HIGH-digitalRead(13));  //toggle led  
}
ros::Subscriber<std_msgs::UInt16> sub1("servo1", servo1_cb);
ros::Subscriber<std_msgs::UInt16> sub2("servo2", servo2_cb);

void setup(){
  pinMode(13, OUTPUT);

  nh.initNode();
  nh.subscribe(sub1);
  nh.subscribe(sub2);

  servo1.attach(9); //attach it to pin 9
  servo2.attach(10);//attach it to pin10
}

void loop(){
  nh.spinOnce();
  delay(20);
}

I tried with UInt16MultiArray but can not make it works. Hope some one can come up with more elegant solution.publisher: rostopic pub servo1 std_msgs/UInt16 <angle1> & rostopic pub servo2 std_msgs/UInt16 <angle2>

Here is an simple example:

#if (ARDUINO >= 100)
 #include <Arduino.h>
#else
 #include <WProgram.h>
#endif

#include <Servo.h> 
#include <ros.h>
#include <std_msgs/UInt16.h>

ros::NodeHandle  nh;

Servo servo1;
Servo servo2;

void servo1_cb( const std_msgs::UInt16&  cmd_msg){
  servo1.write(cmd_msg.data); //set servo angle, should be from 0-180  
  digitalWrite(13, HIGH-digitalRead(13));  //toggle led  
}

void servo2_cb( const std_msgs::UInt16&  cmd_msg){
  servo2.write(cmd_msg.data); //set servo angle, should be from 0-180  
  //digitalWrite(13, HIGH-digitalRead(13));  //toggle led  
}
ros::Subscriber<std_msgs::UInt16> sub1("servo1", servo1_cb);
ros::Subscriber<std_msgs::UInt16> sub2("servo2", servo2_cb);

void setup(){
  pinMode(13, OUTPUT);

  nh.initNode();
  nh.subscribe(sub1);
  nh.subscribe(sub2);

  servo1.attach(9); //attach it to pin 9
  servo2.attach(10);//attach it to pin10
}

void loop(){
  nh.spinOnce();
  delay(20);
}

publisher: publisher:

rostopic pub servo1 std_msgs/UInt16  <angle1> & rostopic pub servo2 std_msgs/UInt16  <angle2>
<angle2>