ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information

Dependencies:   BufferedSerial

Dependents:   rosserial_mbed_hello_world_publisher rtos_base_control rosserial_mbed_F64MA ROS-RTOS ... more

ROSSerial_mbed for Indigo Distribution

The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms.

The rosserial_mbed package allows to write ROS nodes on any mbed enabled devices and have them connected to a running ROS system on your computer using the serial port.

Hello World (example publisher)

Import programrosserial_mbed_hello_world_publisher

rosserial_mbed Hello World

Running the Code

Now, launch the roscore in a new terminal window:

Quote:

$ roscore

Next, run the rosserial client application that forwards your MBED messages to the rest of ROS. Make sure to use the correct serial port:

Quote:

$ rosrun rosserial_python serial_node.py /dev/ttyACM0

Finally, watch the greetings come in from your MBED by launching a new terminal window and entering :

Quote:

$ rostopic echo chatter

See Also

More examples

Blink

/*
 * rosserial Subscriber Example
 * Blinks an LED on callback
 */
#include "mbed.h"
#include <ros.h>
#include <std_msgs/Empty.h>

ros::NodeHandle nh;
DigitalOut myled(LED1);

void messageCb(const std_msgs::Empty& toggle_msg){
    myled = !myled;   // blink the led
}

ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb);

int main() {
    nh.initNode();
    nh.subscribe(sub);

    while (1) {
        nh.spinOnce();
        wait_ms(1);
    }
}

Push

/*
 * Button Example for Rosserial
 */

#include "mbed.h"
#include <ros.h>
#include <std_msgs/Bool.h>

PinName button = p20;

ros::NodeHandle nh;

std_msgs::Bool pushed_msg;
ros::Publisher pub_button("pushed", &pushed_msg);

DigitalIn button_pin(button);
DigitalOut led_pin(LED1);

bool last_reading;
long last_debounce_time=0;
long debounce_delay=50;
bool published = true;

Timer t;
int main() {
    t.start();
    nh.initNode();
    nh.advertise(pub_button);

    //Enable the pullup resistor on the button
    button_pin.mode(PullUp);

    //The button is a normally button
    last_reading = ! button_pin;

    while (1) {
        bool reading = ! button_pin;

        if (last_reading!= reading) {
            last_debounce_time = t.read_ms();
            published = false;
        }

        //if the button value has not changed for the debounce delay, we know its stable
        if ( !published && (t.read_ms() - last_debounce_time)  > debounce_delay) {
            led_pin = reading;
            pushed_msg.data = reading;
            pub_button.publish(&pushed_msg);
            published = true;
        }

        last_reading = reading;

        nh.spinOnce();
    }
}
Committer:
garyservin
Date:
Thu Mar 31 14:22:59 2016 +0000
Revision:
0:fd24f7ca9688
Initial commit, generated based on a clean indigo-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_actionlib_tutorials_AveragingFeedback_h
garyservin 0:fd24f7ca9688 2 #define _ROS_actionlib_tutorials_AveragingFeedback_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8
garyservin 0:fd24f7ca9688 9 namespace actionlib_tutorials
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 class AveragingFeedback : public ros::Msg
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14 public:
garyservin 0:fd24f7ca9688 15 int32_t sample;
garyservin 0:fd24f7ca9688 16 float data;
garyservin 0:fd24f7ca9688 17 float mean;
garyservin 0:fd24f7ca9688 18 float std_dev;
garyservin 0:fd24f7ca9688 19
garyservin 0:fd24f7ca9688 20 AveragingFeedback():
garyservin 0:fd24f7ca9688 21 sample(0),
garyservin 0:fd24f7ca9688 22 data(0),
garyservin 0:fd24f7ca9688 23 mean(0),
garyservin 0:fd24f7ca9688 24 std_dev(0)
garyservin 0:fd24f7ca9688 25 {
garyservin 0:fd24f7ca9688 26 }
garyservin 0:fd24f7ca9688 27
garyservin 0:fd24f7ca9688 28 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 29 {
garyservin 0:fd24f7ca9688 30 int offset = 0;
garyservin 0:fd24f7ca9688 31 union {
garyservin 0:fd24f7ca9688 32 int32_t real;
garyservin 0:fd24f7ca9688 33 uint32_t base;
garyservin 0:fd24f7ca9688 34 } u_sample;
garyservin 0:fd24f7ca9688 35 u_sample.real = this->sample;
garyservin 0:fd24f7ca9688 36 *(outbuffer + offset + 0) = (u_sample.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset + 1) = (u_sample.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset + 2) = (u_sample.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset + 3) = (u_sample.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 40 offset += sizeof(this->sample);
garyservin 0:fd24f7ca9688 41 union {
garyservin 0:fd24f7ca9688 42 float real;
garyservin 0:fd24f7ca9688 43 uint32_t base;
garyservin 0:fd24f7ca9688 44 } u_data;
garyservin 0:fd24f7ca9688 45 u_data.real = this->data;
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 49 *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 50 offset += sizeof(this->data);
garyservin 0:fd24f7ca9688 51 union {
garyservin 0:fd24f7ca9688 52 float real;
garyservin 0:fd24f7ca9688 53 uint32_t base;
garyservin 0:fd24f7ca9688 54 } u_mean;
garyservin 0:fd24f7ca9688 55 u_mean.real = this->mean;
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset + 0) = (u_mean.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 57 *(outbuffer + offset + 1) = (u_mean.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset + 2) = (u_mean.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset + 3) = (u_mean.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 60 offset += sizeof(this->mean);
garyservin 0:fd24f7ca9688 61 union {
garyservin 0:fd24f7ca9688 62 float real;
garyservin 0:fd24f7ca9688 63 uint32_t base;
garyservin 0:fd24f7ca9688 64 } u_std_dev;
garyservin 0:fd24f7ca9688 65 u_std_dev.real = this->std_dev;
garyservin 0:fd24f7ca9688 66 *(outbuffer + offset + 0) = (u_std_dev.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 67 *(outbuffer + offset + 1) = (u_std_dev.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 68 *(outbuffer + offset + 2) = (u_std_dev.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 69 *(outbuffer + offset + 3) = (u_std_dev.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 70 offset += sizeof(this->std_dev);
garyservin 0:fd24f7ca9688 71 return offset;
garyservin 0:fd24f7ca9688 72 }
garyservin 0:fd24f7ca9688 73
garyservin 0:fd24f7ca9688 74 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 75 {
garyservin 0:fd24f7ca9688 76 int offset = 0;
garyservin 0:fd24f7ca9688 77 union {
garyservin 0:fd24f7ca9688 78 int32_t real;
garyservin 0:fd24f7ca9688 79 uint32_t base;
garyservin 0:fd24f7ca9688 80 } u_sample;
garyservin 0:fd24f7ca9688 81 u_sample.base = 0;
garyservin 0:fd24f7ca9688 82 u_sample.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 83 u_sample.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 84 u_sample.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 85 u_sample.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 86 this->sample = u_sample.real;
garyservin 0:fd24f7ca9688 87 offset += sizeof(this->sample);
garyservin 0:fd24f7ca9688 88 union {
garyservin 0:fd24f7ca9688 89 float real;
garyservin 0:fd24f7ca9688 90 uint32_t base;
garyservin 0:fd24f7ca9688 91 } u_data;
garyservin 0:fd24f7ca9688 92 u_data.base = 0;
garyservin 0:fd24f7ca9688 93 u_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 94 u_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 95 u_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 96 u_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 97 this->data = u_data.real;
garyservin 0:fd24f7ca9688 98 offset += sizeof(this->data);
garyservin 0:fd24f7ca9688 99 union {
garyservin 0:fd24f7ca9688 100 float real;
garyservin 0:fd24f7ca9688 101 uint32_t base;
garyservin 0:fd24f7ca9688 102 } u_mean;
garyservin 0:fd24f7ca9688 103 u_mean.base = 0;
garyservin 0:fd24f7ca9688 104 u_mean.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 105 u_mean.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 106 u_mean.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 107 u_mean.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 108 this->mean = u_mean.real;
garyservin 0:fd24f7ca9688 109 offset += sizeof(this->mean);
garyservin 0:fd24f7ca9688 110 union {
garyservin 0:fd24f7ca9688 111 float real;
garyservin 0:fd24f7ca9688 112 uint32_t base;
garyservin 0:fd24f7ca9688 113 } u_std_dev;
garyservin 0:fd24f7ca9688 114 u_std_dev.base = 0;
garyservin 0:fd24f7ca9688 115 u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 116 u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 117 u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 118 u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 119 this->std_dev = u_std_dev.real;
garyservin 0:fd24f7ca9688 120 offset += sizeof(this->std_dev);
garyservin 0:fd24f7ca9688 121 return offset;
garyservin 0:fd24f7ca9688 122 }
garyservin 0:fd24f7ca9688 123
garyservin 0:fd24f7ca9688 124 const char * getType(){ return "actionlib_tutorials/AveragingFeedback"; };
garyservin 0:fd24f7ca9688 125 const char * getMD5(){ return "9e8dfc53c2f2a032ca33fa80ec46fd4f"; };
garyservin 0:fd24f7ca9688 126
garyservin 0:fd24f7ca9688 127 };
garyservin 0:fd24f7ca9688 128
garyservin 0:fd24f7ca9688 129 }
garyservin 0:fd24f7ca9688 130 #endif