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(); } }
gazebo_msgs/ContactState.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_gazebo_msgs_ContactState_h |
garyservin | 0:fd24f7ca9688 | 2 | #define _ROS_gazebo_msgs_ContactState_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 | #include "geometry_msgs/Wrench.h" |
garyservin | 0:fd24f7ca9688 | 9 | #include "geometry_msgs/Vector3.h" |
garyservin | 0:fd24f7ca9688 | 10 | |
garyservin | 0:fd24f7ca9688 | 11 | namespace gazebo_msgs |
garyservin | 0:fd24f7ca9688 | 12 | { |
garyservin | 0:fd24f7ca9688 | 13 | |
garyservin | 0:fd24f7ca9688 | 14 | class ContactState : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 15 | { |
garyservin | 0:fd24f7ca9688 | 16 | public: |
garyservin | 0:fd24f7ca9688 | 17 | const char* info; |
garyservin | 0:fd24f7ca9688 | 18 | const char* collision1_name; |
garyservin | 0:fd24f7ca9688 | 19 | const char* collision2_name; |
garyservin | 0:fd24f7ca9688 | 20 | uint8_t wrenches_length; |
garyservin | 0:fd24f7ca9688 | 21 | geometry_msgs::Wrench st_wrenches; |
garyservin | 0:fd24f7ca9688 | 22 | geometry_msgs::Wrench * wrenches; |
garyservin | 0:fd24f7ca9688 | 23 | geometry_msgs::Wrench total_wrench; |
garyservin | 0:fd24f7ca9688 | 24 | uint8_t contact_positions_length; |
garyservin | 0:fd24f7ca9688 | 25 | geometry_msgs::Vector3 st_contact_positions; |
garyservin | 0:fd24f7ca9688 | 26 | geometry_msgs::Vector3 * contact_positions; |
garyservin | 0:fd24f7ca9688 | 27 | uint8_t contact_normals_length; |
garyservin | 0:fd24f7ca9688 | 28 | geometry_msgs::Vector3 st_contact_normals; |
garyservin | 0:fd24f7ca9688 | 29 | geometry_msgs::Vector3 * contact_normals; |
garyservin | 0:fd24f7ca9688 | 30 | uint8_t depths_length; |
garyservin | 0:fd24f7ca9688 | 31 | double st_depths; |
garyservin | 0:fd24f7ca9688 | 32 | double * depths; |
garyservin | 0:fd24f7ca9688 | 33 | |
garyservin | 0:fd24f7ca9688 | 34 | ContactState(): |
garyservin | 0:fd24f7ca9688 | 35 | info(""), |
garyservin | 0:fd24f7ca9688 | 36 | collision1_name(""), |
garyservin | 0:fd24f7ca9688 | 37 | collision2_name(""), |
garyservin | 0:fd24f7ca9688 | 38 | wrenches_length(0), wrenches(NULL), |
garyservin | 0:fd24f7ca9688 | 39 | total_wrench(), |
garyservin | 0:fd24f7ca9688 | 40 | contact_positions_length(0), contact_positions(NULL), |
garyservin | 0:fd24f7ca9688 | 41 | contact_normals_length(0), contact_normals(NULL), |
garyservin | 0:fd24f7ca9688 | 42 | depths_length(0), depths(NULL) |
garyservin | 0:fd24f7ca9688 | 43 | { |
garyservin | 0:fd24f7ca9688 | 44 | } |
garyservin | 0:fd24f7ca9688 | 45 | |
garyservin | 0:fd24f7ca9688 | 46 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:fd24f7ca9688 | 47 | { |
garyservin | 0:fd24f7ca9688 | 48 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 49 | uint32_t length_info = strlen(this->info); |
garyservin | 0:fd24f7ca9688 | 50 | memcpy(outbuffer + offset, &length_info, sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 51 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 52 | memcpy(outbuffer + offset, this->info, length_info); |
garyservin | 0:fd24f7ca9688 | 53 | offset += length_info; |
garyservin | 0:fd24f7ca9688 | 54 | uint32_t length_collision1_name = strlen(this->collision1_name); |
garyservin | 0:fd24f7ca9688 | 55 | memcpy(outbuffer + offset, &length_collision1_name, sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 56 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 57 | memcpy(outbuffer + offset, this->collision1_name, length_collision1_name); |
garyservin | 0:fd24f7ca9688 | 58 | offset += length_collision1_name; |
garyservin | 0:fd24f7ca9688 | 59 | uint32_t length_collision2_name = strlen(this->collision2_name); |
garyservin | 0:fd24f7ca9688 | 60 | memcpy(outbuffer + offset, &length_collision2_name, sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 61 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 62 | memcpy(outbuffer + offset, this->collision2_name, length_collision2_name); |
garyservin | 0:fd24f7ca9688 | 63 | offset += length_collision2_name; |
garyservin | 0:fd24f7ca9688 | 64 | *(outbuffer + offset++) = wrenches_length; |
garyservin | 0:fd24f7ca9688 | 65 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 66 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 67 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 68 | for( uint8_t i = 0; i < wrenches_length; i++){ |
garyservin | 0:fd24f7ca9688 | 69 | offset += this->wrenches[i].serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 70 | } |
garyservin | 0:fd24f7ca9688 | 71 | offset += this->total_wrench.serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 72 | *(outbuffer + offset++) = contact_positions_length; |
garyservin | 0:fd24f7ca9688 | 73 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 74 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 75 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 76 | for( uint8_t i = 0; i < contact_positions_length; i++){ |
garyservin | 0:fd24f7ca9688 | 77 | offset += this->contact_positions[i].serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 78 | } |
garyservin | 0:fd24f7ca9688 | 79 | *(outbuffer + offset++) = contact_normals_length; |
garyservin | 0:fd24f7ca9688 | 80 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 81 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 82 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 83 | for( uint8_t i = 0; i < contact_normals_length; i++){ |
garyservin | 0:fd24f7ca9688 | 84 | offset += this->contact_normals[i].serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 85 | } |
garyservin | 0:fd24f7ca9688 | 86 | *(outbuffer + offset++) = depths_length; |
garyservin | 0:fd24f7ca9688 | 87 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 88 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 89 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 90 | for( uint8_t i = 0; i < depths_length; i++){ |
garyservin | 0:fd24f7ca9688 | 91 | union { |
garyservin | 0:fd24f7ca9688 | 92 | double real; |
garyservin | 0:fd24f7ca9688 | 93 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 94 | } u_depthsi; |
garyservin | 0:fd24f7ca9688 | 95 | u_depthsi.real = this->depths[i]; |
garyservin | 0:fd24f7ca9688 | 96 | *(outbuffer + offset + 0) = (u_depthsi.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 97 | *(outbuffer + offset + 1) = (u_depthsi.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 98 | *(outbuffer + offset + 2) = (u_depthsi.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 99 | *(outbuffer + offset + 3) = (u_depthsi.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 100 | *(outbuffer + offset + 4) = (u_depthsi.base >> (8 * 4)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 101 | *(outbuffer + offset + 5) = (u_depthsi.base >> (8 * 5)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 102 | *(outbuffer + offset + 6) = (u_depthsi.base >> (8 * 6)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 103 | *(outbuffer + offset + 7) = (u_depthsi.base >> (8 * 7)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 104 | offset += sizeof(this->depths[i]); |
garyservin | 0:fd24f7ca9688 | 105 | } |
garyservin | 0:fd24f7ca9688 | 106 | return offset; |
garyservin | 0:fd24f7ca9688 | 107 | } |
garyservin | 0:fd24f7ca9688 | 108 | |
garyservin | 0:fd24f7ca9688 | 109 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:fd24f7ca9688 | 110 | { |
garyservin | 0:fd24f7ca9688 | 111 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 112 | uint32_t length_info; |
garyservin | 0:fd24f7ca9688 | 113 | memcpy(&length_info, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 114 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 115 | for(unsigned int k= offset; k< offset+length_info; ++k){ |
garyservin | 0:fd24f7ca9688 | 116 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:fd24f7ca9688 | 117 | } |
garyservin | 0:fd24f7ca9688 | 118 | inbuffer[offset+length_info-1]=0; |
garyservin | 0:fd24f7ca9688 | 119 | this->info = (char *)(inbuffer + offset-1); |
garyservin | 0:fd24f7ca9688 | 120 | offset += length_info; |
garyservin | 0:fd24f7ca9688 | 121 | uint32_t length_collision1_name; |
garyservin | 0:fd24f7ca9688 | 122 | memcpy(&length_collision1_name, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 123 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 124 | for(unsigned int k= offset; k< offset+length_collision1_name; ++k){ |
garyservin | 0:fd24f7ca9688 | 125 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:fd24f7ca9688 | 126 | } |
garyservin | 0:fd24f7ca9688 | 127 | inbuffer[offset+length_collision1_name-1]=0; |
garyservin | 0:fd24f7ca9688 | 128 | this->collision1_name = (char *)(inbuffer + offset-1); |
garyservin | 0:fd24f7ca9688 | 129 | offset += length_collision1_name; |
garyservin | 0:fd24f7ca9688 | 130 | uint32_t length_collision2_name; |
garyservin | 0:fd24f7ca9688 | 131 | memcpy(&length_collision2_name, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 132 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 133 | for(unsigned int k= offset; k< offset+length_collision2_name; ++k){ |
garyservin | 0:fd24f7ca9688 | 134 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:fd24f7ca9688 | 135 | } |
garyservin | 0:fd24f7ca9688 | 136 | inbuffer[offset+length_collision2_name-1]=0; |
garyservin | 0:fd24f7ca9688 | 137 | this->collision2_name = (char *)(inbuffer + offset-1); |
garyservin | 0:fd24f7ca9688 | 138 | offset += length_collision2_name; |
garyservin | 0:fd24f7ca9688 | 139 | uint8_t wrenches_lengthT = *(inbuffer + offset++); |
garyservin | 0:fd24f7ca9688 | 140 | if(wrenches_lengthT > wrenches_length) |
garyservin | 0:fd24f7ca9688 | 141 | this->wrenches = (geometry_msgs::Wrench*)realloc(this->wrenches, wrenches_lengthT * sizeof(geometry_msgs::Wrench)); |
garyservin | 0:fd24f7ca9688 | 142 | offset += 3; |
garyservin | 0:fd24f7ca9688 | 143 | wrenches_length = wrenches_lengthT; |
garyservin | 0:fd24f7ca9688 | 144 | for( uint8_t i = 0; i < wrenches_length; i++){ |
garyservin | 0:fd24f7ca9688 | 145 | offset += this->st_wrenches.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 146 | memcpy( &(this->wrenches[i]), &(this->st_wrenches), sizeof(geometry_msgs::Wrench)); |
garyservin | 0:fd24f7ca9688 | 147 | } |
garyservin | 0:fd24f7ca9688 | 148 | offset += this->total_wrench.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 149 | uint8_t contact_positions_lengthT = *(inbuffer + offset++); |
garyservin | 0:fd24f7ca9688 | 150 | if(contact_positions_lengthT > contact_positions_length) |
garyservin | 0:fd24f7ca9688 | 151 | this->contact_positions = (geometry_msgs::Vector3*)realloc(this->contact_positions, contact_positions_lengthT * sizeof(geometry_msgs::Vector3)); |
garyservin | 0:fd24f7ca9688 | 152 | offset += 3; |
garyservin | 0:fd24f7ca9688 | 153 | contact_positions_length = contact_positions_lengthT; |
garyservin | 0:fd24f7ca9688 | 154 | for( uint8_t i = 0; i < contact_positions_length; i++){ |
garyservin | 0:fd24f7ca9688 | 155 | offset += this->st_contact_positions.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 156 | memcpy( &(this->contact_positions[i]), &(this->st_contact_positions), sizeof(geometry_msgs::Vector3)); |
garyservin | 0:fd24f7ca9688 | 157 | } |
garyservin | 0:fd24f7ca9688 | 158 | uint8_t contact_normals_lengthT = *(inbuffer + offset++); |
garyservin | 0:fd24f7ca9688 | 159 | if(contact_normals_lengthT > contact_normals_length) |
garyservin | 0:fd24f7ca9688 | 160 | this->contact_normals = (geometry_msgs::Vector3*)realloc(this->contact_normals, contact_normals_lengthT * sizeof(geometry_msgs::Vector3)); |
garyservin | 0:fd24f7ca9688 | 161 | offset += 3; |
garyservin | 0:fd24f7ca9688 | 162 | contact_normals_length = contact_normals_lengthT; |
garyservin | 0:fd24f7ca9688 | 163 | for( uint8_t i = 0; i < contact_normals_length; i++){ |
garyservin | 0:fd24f7ca9688 | 164 | offset += this->st_contact_normals.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 165 | memcpy( &(this->contact_normals[i]), &(this->st_contact_normals), sizeof(geometry_msgs::Vector3)); |
garyservin | 0:fd24f7ca9688 | 166 | } |
garyservin | 0:fd24f7ca9688 | 167 | uint8_t depths_lengthT = *(inbuffer + offset++); |
garyservin | 0:fd24f7ca9688 | 168 | if(depths_lengthT > depths_length) |
garyservin | 0:fd24f7ca9688 | 169 | this->depths = (double*)realloc(this->depths, depths_lengthT * sizeof(double)); |
garyservin | 0:fd24f7ca9688 | 170 | offset += 3; |
garyservin | 0:fd24f7ca9688 | 171 | depths_length = depths_lengthT; |
garyservin | 0:fd24f7ca9688 | 172 | for( uint8_t i = 0; i < depths_length; i++){ |
garyservin | 0:fd24f7ca9688 | 173 | union { |
garyservin | 0:fd24f7ca9688 | 174 | double real; |
garyservin | 0:fd24f7ca9688 | 175 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 176 | } u_st_depths; |
garyservin | 0:fd24f7ca9688 | 177 | u_st_depths.base = 0; |
garyservin | 0:fd24f7ca9688 | 178 | u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 179 | u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 180 | u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 181 | u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 182 | u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:fd24f7ca9688 | 183 | u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:fd24f7ca9688 | 184 | u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:fd24f7ca9688 | 185 | u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:fd24f7ca9688 | 186 | this->st_depths = u_st_depths.real; |
garyservin | 0:fd24f7ca9688 | 187 | offset += sizeof(this->st_depths); |
garyservin | 0:fd24f7ca9688 | 188 | memcpy( &(this->depths[i]), &(this->st_depths), sizeof(double)); |
garyservin | 0:fd24f7ca9688 | 189 | } |
garyservin | 0:fd24f7ca9688 | 190 | return offset; |
garyservin | 0:fd24f7ca9688 | 191 | } |
garyservin | 0:fd24f7ca9688 | 192 | |
garyservin | 0:fd24f7ca9688 | 193 | const char * getType(){ return "gazebo_msgs/ContactState"; }; |
garyservin | 0:fd24f7ca9688 | 194 | const char * getMD5(){ return "48c0ffb054b8c444f870cecea1ee50d9"; }; |
garyservin | 0:fd24f7ca9688 | 195 | |
garyservin | 0:fd24f7ca9688 | 196 | }; |
garyservin | 0:fd24f7ca9688 | 197 | |
garyservin | 0:fd24f7ca9688 | 198 | } |
garyservin | 0:fd24f7ca9688 | 199 | #endif |