Controlling a Turtlebot Arm with an Arduino Board using RFID¶

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

    //Create the node handler and the message type
    ros::NodeHandle nh;
    std_msgs::String str_msg;

    //Create a publisher for the message
    ros::Publisher pub_tag("/tagRead", &str_msg);

    //initialize an RFIDuino object for hardware version 1.1
    RFIDuino myRFIDuino(1.1);    //you can use RFIDuino myRFIDuino(1.2) for the other version

    char tagWord[8];
    String tagStr;

    //enter your ID numbers below as a 'key' tag
    byte keyTag[5] ={37,0,0,161,253};  //an array that will hold all of our 'key tags'. Key tags are treated differently from other tags read
    byte tagData[5];                   //Holds the ID numbers from the tag
    boolean verifyKey = false;

    void setup()
    {

    nh.initNode();
    nh.advertise(pub_tag);

    }

    void loop()
    {

    if(myRFIDuino.scanForTag(tagData) == true)
    {

    verifyKey = myRFIDuino.compareTagData(tagData, keyTag);//run the comparetagData to check the tag just read against the 'key' tag we defined.

    if(verifyKey == true)//if a 'true' is returned by comparetagData, the current read is a key tag
    {

digitalWrite(myRFIDuino.led2,HIGH);         //turn green LED on
myRFIDuino.successSound();                  //Play a 'success' sound from the buzzer, 3 notes acsending
delay(250);                                 //wait for a period before turning off the LED
digitalWrite(myRFIDuino.led2,LOW);       //turn the green LED off

    }
    else//otherwise the tag is not a key tag
    {

digitalWrite(myRFIDuino.led1,HIGH);         //turn red LED on
delay(250);                                 //wait for a period before turning off the LED
digitalWrite(myRFIDuino.led1,LOW);          //turn the red LED off

    }

    //convert the byte array into String
tagStr = String(tagData[0]);
tagStr = tagStr + String(tagData[1]);
tagStr = tagStr + String(tagData[2]);
tagStr = tagStr + String(tagData[3]);
tagStr = tagStr + String(tagData[4]);

    //convert the String into char array
tagStr.toCharArray(tagWord,11);

    //store the data in the str_msg message
str_msg.data = tagWord;

    //publish the message
pub_tag.publish(&str_msg);

    //reset the String to be equal to an empty String BUT you can remove this line
tagStr="";

    }
nh.spinOnce();
}