1 00:00:06,040 --> 00:00:10,210 Remember that we have selected a dark theme in the preference, right? 2 00:00:10,510 --> 00:00:12,220 So it is not dark. 3 00:00:12,250 --> 00:00:14,590 It is still white thing. 4 00:00:14,740 --> 00:00:17,560 So we just need to restart this. 5 00:00:19,660 --> 00:00:22,360 This is now doctrine to explain this code. 6 00:00:22,390 --> 00:00:24,390 There is a complete cross architect. 7 00:00:24,400 --> 00:00:26,260 Let me take you to the website. 8 00:00:26,270 --> 00:00:28,210 So here it is, a website. 9 00:00:30,400 --> 00:00:33,450 Come to hear programming with the Sclc. 10 00:00:33,700 --> 00:00:36,280 There you will see some overview. 11 00:00:36,280 --> 00:00:37,920 And then the nodes. 12 00:00:37,930 --> 00:00:45,880 And here it is, the documentation where you will see the alligators, sports publisher and subscriber. 13 00:00:45,880 --> 00:00:53,020 So if you really want to learn this thing deeply, you need to check out this and the link will be in 14 00:00:53,020 --> 00:00:55,630 the description to keep things easier. 15 00:00:56,050 --> 00:01:02,650 If you just need to focus on this code to understand this code will ask chettipatti because no one can 16 00:01:02,650 --> 00:01:04,740 explain better than Chettipatti. 17 00:01:11,680 --> 00:01:15,190 It is explaining every line, so it is not adding any comments. 18 00:01:15,190 --> 00:01:18,290 It is just like taking some sections and explaining it. 19 00:01:18,310 --> 00:01:20,980 I will just open and try to regenerate. 20 00:01:21,160 --> 00:01:22,540 It will be adding comment. 21 00:01:32,380 --> 00:01:39,310 Okay, so it has successfully added key commands in the first we have the library Arduino Micro that 22 00:01:39,310 --> 00:01:46,810 we have just added into the Arduino IDE and then there is some input output library and then the Ros 23 00:01:46,810 --> 00:01:47,920 client library. 24 00:01:48,160 --> 00:01:52,060 Ros Client library for C and then the Executer library. 25 00:01:52,060 --> 00:01:56,860 And here is the message type and the message that publisher is publishing. 26 00:01:56,860 --> 00:02:01,380 And 32 here it is declaring the publisher and this is the publisher type. 27 00:02:01,390 --> 00:02:07,270 These are all the declarations publisher message executer port allocator and northern timer. 28 00:02:07,270 --> 00:02:14,470 When the publisher comes in, it will need a timer that will keep on repeating itself after a certain 29 00:02:14,470 --> 00:02:17,230 time that we will be inputting in defined. 30 00:02:17,260 --> 00:02:22,000 And these two lines are for the error handling and this is the error loop. 31 00:02:22,000 --> 00:02:28,900 It will just try to blink the Led after 100 milliseconds and this is a timer that will be repeating 32 00:02:28,900 --> 00:02:36,200 itself and inside there are soft check function and this is publishing the message and the message is 33 00:02:36,200 --> 00:02:38,120 being increased here. 34 00:02:38,120 --> 00:02:41,750 And in the work setup we defined the Ros transport. 35 00:02:41,780 --> 00:02:46,220 Like in this case we are connecting Esp32 with fire. 36 00:02:46,250 --> 00:02:48,260 So we are connecting it in serial. 37 00:02:48,290 --> 00:02:51,920 This is why you are seeing this function empty. 38 00:02:52,010 --> 00:02:59,720 But if we connect it via Wi-Fi, then we will be inputting here the Wi-Fi credentials defining that 39 00:02:59,720 --> 00:03:07,550 The pin, which is 13 in this case, is set to the output mode and sets the initial set of PIN to her. 40 00:03:07,910 --> 00:03:08,450 All right. 41 00:03:08,450 --> 00:03:09,950 And then there is our delay. 42 00:03:09,950 --> 00:03:16,880 And then the default allocator is called sport initialize 10 to 0 is called and the node name is here. 43 00:03:16,880 --> 00:03:19,550 Micro Ros Arduino naught. 44 00:03:19,580 --> 00:03:25,250 This is creating the publisher and here it is, the timer initialized and the timer will be repeating 45 00:03:25,250 --> 00:03:27,890 itself after 100 milliseconds. 46 00:03:27,890 --> 00:03:35,630 Then this is the callback function that we saw above here and then there is the initialization of the 47 00:03:35,630 --> 00:03:36,970 executor here. 48 00:03:36,990 --> 00:03:44,330 This number initialized with the zero and the wire, though there is a delay and then the executor is 49 00:03:44,330 --> 00:03:47,810 fed to the executor spin. 50 00:03:47,810 --> 00:03:50,060 This thing will keep everything alive. 51 00:03:50,090 --> 00:03:55,550 The thing that confuses you in this code, you can ask Djibouti about that. 52 00:03:55,550 --> 00:03:56,990 And it will it will guide you. 53 00:03:56,990 --> 00:04:02,720 Well, let's open the Arduino IDE and we will take a look at another example. 54 00:04:02,720 --> 00:04:04,820 We will run the subscriber this time. 55 00:04:09,220 --> 00:04:13,690 My twist subscriber closes. 56 00:04:14,260 --> 00:04:14,860 Upload. 57 00:04:19,030 --> 00:04:20,340 Cord is uploaded. 58 00:04:20,350 --> 00:04:23,710 Now we need to run the micro Ross Agent. 59 00:04:30,420 --> 00:04:33,120 I will just breasty and I will return here. 60 00:04:33,120 --> 00:04:34,770 And this is connected. 61 00:04:37,490 --> 00:04:40,570 So they said they are doing all subscriber topics. 62 00:04:40,580 --> 00:04:42,140 We can also change this name. 63 00:04:42,140 --> 00:04:47,690 If we want to publish on this topic, we will first try to equal this. 64 00:04:49,640 --> 00:04:54,080 And currently no one is publishing over this topic. 65 00:04:54,620 --> 00:04:57,260 So let's create a publisher also. 66 00:05:18,970 --> 00:05:20,430 And there you see it is. 67 00:05:20,440 --> 00:05:24,550 It has published the value on x linear. 68 00:05:24,550 --> 00:05:30,460 And if we try to press L, it will publish this value and see. 69 00:05:31,580 --> 00:05:34,730 And tell you to skip or not. 70 00:05:34,760 --> 00:05:41,390 Establishing the value over this topic and this micro or not is subscribing to this.