#include "Arduino.h"

else

  #include "Arduino.h"
#else
  #include <wprogram.h>  
 
endif
 
include <servo.h>
 
include <ros.h>
 
include <std_msgs uint16.h="">
 

#endif

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

ros::NodeHandle nh;
 
nh;

Servo servo1;
Servo servo2;
 
servo2;

void servo1_cb( const std_msgs::UInt16& cmd_msg)
{
  servo1.write(cmd_msg.data); //set servo angle, should be from 0-180 
 
}
void servo2_cb( const std_msgs::UInt16& cmd_msg)
{
  servo2.write(cmd_msg.data);
}
 
ros::Subscriber<std_msgs::uint16> }

ros::Subscriber<std_msgs::UInt16> sub1("servo1", servo1_cb);
ros::Subscriber<std_msgs::uint16> ros::Subscriber<std_msgs::UInt16> sub2("servo2", servo2_cb);
 
servo2_cb);

void setup()
{
 
{

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

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

void loop()
{
  nh.spinOnce();
  delay(1);
}}

in the terminal use different servo names as servo1 or servo2 and insert your angle.

I am having trouble in subscribing this topic into the keyboard keypress (when one key is pressed- the command need to move in 180 angles) any ideas???? please help. also, help me how to write a node to subscribe and publish outer message (wireless topic) topic comes from Ros (not Arduino) that can control the servo.