ros控制小车运行代码

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

//定义五中运动状态
#define STOP      0
#define FORWARD   1
#define BACKWARD  2
#define TURNLEFT  3
#define TURNRIGHT 4
//定义需要用到的引脚
int leftMotor1 = 4;
int leftMotor2 = 5;
int rightMotor1 = 6;
int rightMotor2 = 7;

ros::NodeHandle nh;

void messageCb(const std_msgs::String& cat_msg) {
     switch(cat_msg.data[0]) {
        case 'w':
            motorRun(1);
            delay(2000);//每个命令执行2s
            motorRun(5);
            break;
        case 's':
            motorRun(2);
            delay(2000);//每个命令执行2s
            motorRun(5);
            break;
         case 'a':
            motorRun(3);
            delay(2000);//每个命令执行2s