ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information
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(); } }
driver_base/SensorLevels.h@0:fd24f7ca9688, 2016-03-31 (annotated)
- 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?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:fd24f7ca9688 | 1 | #ifndef _ROS_driver_base_SensorLevels_h |
garyservin | 0:fd24f7ca9688 | 2 | #define _ROS_driver_base_SensorLevels_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 driver_base |
garyservin | 0:fd24f7ca9688 | 10 | { |
garyservin | 0:fd24f7ca9688 | 11 | |
garyservin | 0:fd24f7ca9688 | 12 | class SensorLevels : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 13 | { |
garyservin | 0:fd24f7ca9688 | 14 | public: |
garyservin | 0:fd24f7ca9688 | 15 | enum { RECONFIGURE_CLOSE = 3 }; |
garyservin | 0:fd24f7ca9688 | 16 | enum { RECONFIGURE_STOP = 1 }; |
garyservin | 0:fd24f7ca9688 | 17 | enum { RECONFIGURE_RUNNING = 0 }; |
garyservin | 0:fd24f7ca9688 | 18 | |
garyservin | 0:fd24f7ca9688 | 19 | SensorLevels() |
garyservin | 0:fd24f7ca9688 | 20 | { |
garyservin | 0:fd24f7ca9688 | 21 | } |
garyservin | 0:fd24f7ca9688 | 22 | |
garyservin | 0:fd24f7ca9688 | 23 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:fd24f7ca9688 | 24 | { |
garyservin | 0:fd24f7ca9688 | 25 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 26 | return offset; |
garyservin | 0:fd24f7ca9688 | 27 | } |
garyservin | 0:fd24f7ca9688 | 28 | |
garyservin | 0:fd24f7ca9688 | 29 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:fd24f7ca9688 | 30 | { |
garyservin | 0:fd24f7ca9688 | 31 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 32 | return offset; |
garyservin | 0:fd24f7ca9688 | 33 | } |
garyservin | 0:fd24f7ca9688 | 34 | |
garyservin | 0:fd24f7ca9688 | 35 | const char * getType(){ return "driver_base/SensorLevels"; }; |
garyservin | 0:fd24f7ca9688 | 36 | const char * getMD5(){ return "6322637bee96d5489db6e2127c47602c"; }; |
garyservin | 0:fd24f7ca9688 | 37 | |
garyservin | 0:fd24f7ca9688 | 38 | }; |
garyservin | 0:fd24f7ca9688 | 39 | |
garyservin | 0:fd24f7ca9688 | 40 | } |
garyservin | 0:fd24f7ca9688 | 41 | #endif |