Remember that we have selected a dark theme in the preference, right?
So it is not dark.
It is still white thing.
So we just need to restart this.
This is now doctrine to explain this code.
There is a complete cross architect.
Let me take you to the website.
So here it is, a website.
Come to hear programming with the Sclc.
There you will see some overview.
And then the nodes.
And here it is, the documentation where you will see the alligators, sports publisher and subscriber.
So if you really want to learn this thing deeply, you need to check out this and the link will be in
the description to keep things easier.
If you just need to focus on this code to understand this code will ask chettipatti because no one can
explain better than Chettipatti.
It is explaining every line, so it is not adding any comments.
It is just like taking some sections and explaining it.
I will just open and try to regenerate.
It will be adding comment.
Okay, so it has successfully added key commands in the first we have the library Arduino Micro that
we have just added into the Arduino IDE and then there is some input output library and then the Ros
client library.
Ros Client library for C and then the Executer library.
And here is the message type and the message that publisher is publishing.
And 32 here it is declaring the publisher and this is the publisher type.
These are all the declarations publisher message executer port allocator and northern timer.
When the publisher comes in, it will need a timer that will keep on repeating itself after a certain
time that we will be inputting in defined.
And these two lines are for the error handling and this is the error loop.
It will just try to blink the Led after 100 milliseconds and this is a timer that will be repeating
itself and inside there are soft check function and this is publishing the message and the message is
being increased here.
And in the work setup we defined the Ros transport.
Like in this case we are connecting Esp32 with fire.
So we are connecting it in serial.
This is why you are seeing this function empty.
But if we connect it via Wi-Fi, then we will be inputting here the Wi-Fi credentials defining that
The pin, which is 13 in this case, is set to the output mode and sets the initial set of PIN to her.
All right.
And then there is our delay.
And then the default allocator is called sport initialize 10 to 0 is called and the node name is here.
Micro Ros Arduino naught.
This is creating the publisher and here it is, the timer initialized and the timer will be repeating
itself after 100 milliseconds.
Then this is the callback function that we saw above here and then there is the initialization of the
executor here.
This number initialized with the zero and the wire, though there is a delay and then the executor is
fed to the executor spin.
This thing will keep everything alive.
The thing that confuses you in this code, you can ask Djibouti about that.
And it will it will guide you.
Well, let's open the Arduino IDE and we will take a look at another example.
We will run the subscriber this time.
My twist subscriber closes.
Upload.
Cord is uploaded.
Now we need to run the micro Ross Agent.
I will just breasty and I will return here.
And this is connected.
So they said they are doing all subscriber topics.
We can also change this name.
If we want to publish on this topic, we will first try to equal this.
And currently no one is publishing over this topic.
So let's create a publisher also.
And there you see it is.
It has published the value on x linear.
And if we try to press L, it will publish this value and see.
And tell you to skip or not.
Establishing the value over this topic and this micro or not is subscribing to this.