Szymon Szantula / rosserial-mbed
GitHub hosted
Public

Rosserial library for MBED


Download repository: zip

rosserial-mbed

Version: v1.1.1

This repository is a modified version of ros_lib directory created accordingly to rosserial MBED Setup tutorial from official ros documentation.

Condensed, step by step recipe:
1. $ mkdir -p ~/ros_workspace/src && cd ros_workspace/src && catkin_init_workspace
2. $ cd ~/ros_workspace/src && git clone https://github.com/ros-drivers/rosserial
3. $ cd ~/ros_workspace && catkin_make
4. $ source devel/setup.bash
5. $ rosrun rosserial_mbed make_libraries.py ~/workspace/ros/lib

This library is compatible with Mbed CLI tools. You can change default Serial pins and baudrate used by rosserial in mbed_app.json.

Available options:

  • "rosserial-mbed.tx_pin" - serial tx pin
  • "rosserial-mbed.rx_pin" - serial rx pin
  • "rosserial-mbed.baudrate" - serial baudrate
  • "rosserial-mbed.in_buffer_size" - node input buffer size (default: 512)
  • "rosserial-mbed.out_buffer_size" - node output buffer size (default: 512)
  • "rosserial-mbed.rtos_kernel_ms_tick" - use kernel_ms_tick instead Ticker

rosserial-mbed uses UARTSerial library that has following configuration options: * "drivers.uart-serial-rxbuf-size" - input buffer, * "drivers.uart-serial-txbuf-size"- output buffer,

Example:

{
    "target_overrides":{
        "*": {
            "rosserial-mbed.tx_pin": "MY_TX_PIN",
            "rosserial-mbed.rx_pin": "MY_RX_PIN",
            "rosserial-mbed.baudrate": 230400,
            "drivers.uart-serial-rxbuf-size": 512,
            "drivers.uart-serial-txbuf-size": 512,
            "rosserial-mbed.rtos_kernel_ms_tick": 1
        }
    }
}

To add this library to your project just run mbed add https://github.com/byq77/rosserial-mbed.git in your project’s lib directory.