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/SetModelConfiguration.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_SERVICE_SetModelConfiguration_h |
garyservin | 0:fd24f7ca9688 | 2 | #define _ROS_SERVICE_SetModelConfiguration_h |
garyservin | 0:fd24f7ca9688 | 3 | #include <stdint.h> |
garyservin | 0:fd24f7ca9688 | 4 | #include <string.h> |
garyservin | 0:fd24f7ca9688 | 5 | #include <stdlib.h> |
garyservin | 0:fd24f7ca9688 | 6 | #include "ros/msg.h" |
garyservin | 0:fd24f7ca9688 | 7 | |
garyservin | 0:fd24f7ca9688 | 8 | namespace gazebo_msgs |
garyservin | 0:fd24f7ca9688 | 9 | { |
garyservin | 0:fd24f7ca9688 | 10 | |
garyservin | 0:fd24f7ca9688 | 11 | static const char SETMODELCONFIGURATION[] = "gazebo_msgs/SetModelConfiguration"; |
garyservin | 0:fd24f7ca9688 | 12 | |
garyservin | 0:fd24f7ca9688 | 13 | class SetModelConfigurationRequest : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 14 | { |
garyservin | 0:fd24f7ca9688 | 15 | public: |
garyservin | 0:fd24f7ca9688 | 16 | const char* model_name; |
garyservin | 0:fd24f7ca9688 | 17 | const char* urdf_param_name; |
garyservin | 0:fd24f7ca9688 | 18 | uint8_t joint_names_length; |
garyservin | 0:fd24f7ca9688 | 19 | char* st_joint_names; |
garyservin | 0:fd24f7ca9688 | 20 | char* * joint_names; |
garyservin | 0:fd24f7ca9688 | 21 | uint8_t joint_positions_length; |
garyservin | 0:fd24f7ca9688 | 22 | double st_joint_positions; |
garyservin | 0:fd24f7ca9688 | 23 | double * joint_positions; |
garyservin | 0:fd24f7ca9688 | 24 | |
garyservin | 0:fd24f7ca9688 | 25 | SetModelConfigurationRequest(): |
garyservin | 0:fd24f7ca9688 | 26 | model_name(""), |
garyservin | 0:fd24f7ca9688 | 27 | urdf_param_name(""), |
garyservin | 0:fd24f7ca9688 | 28 | joint_names_length(0), joint_names(NULL), |
garyservin | 0:fd24f7ca9688 | 29 | joint_positions_length(0), joint_positions(NULL) |
garyservin | 0:fd24f7ca9688 | 30 | { |
garyservin | 0:fd24f7ca9688 | 31 | } |
garyservin | 0:fd24f7ca9688 | 32 | |
garyservin | 0:fd24f7ca9688 | 33 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:fd24f7ca9688 | 34 | { |
garyservin | 0:fd24f7ca9688 | 35 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 36 | uint32_t length_model_name = strlen(this->model_name); |
garyservin | 0:fd24f7ca9688 | 37 | memcpy(outbuffer + offset, &length_model_name, sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 38 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 39 | memcpy(outbuffer + offset, this->model_name, length_model_name); |
garyservin | 0:fd24f7ca9688 | 40 | offset += length_model_name; |
garyservin | 0:fd24f7ca9688 | 41 | uint32_t length_urdf_param_name = strlen(this->urdf_param_name); |
garyservin | 0:fd24f7ca9688 | 42 | memcpy(outbuffer + offset, &length_urdf_param_name, sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 43 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 44 | memcpy(outbuffer + offset, this->urdf_param_name, length_urdf_param_name); |
garyservin | 0:fd24f7ca9688 | 45 | offset += length_urdf_param_name; |
garyservin | 0:fd24f7ca9688 | 46 | *(outbuffer + offset++) = joint_names_length; |
garyservin | 0:fd24f7ca9688 | 47 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 48 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 49 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 50 | for( uint8_t i = 0; i < joint_names_length; i++){ |
garyservin | 0:fd24f7ca9688 | 51 | uint32_t length_joint_namesi = strlen(this->joint_names[i]); |
garyservin | 0:fd24f7ca9688 | 52 | memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 53 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 54 | memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); |
garyservin | 0:fd24f7ca9688 | 55 | offset += length_joint_namesi; |
garyservin | 0:fd24f7ca9688 | 56 | } |
garyservin | 0:fd24f7ca9688 | 57 | *(outbuffer + offset++) = joint_positions_length; |
garyservin | 0:fd24f7ca9688 | 58 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 59 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 60 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 61 | for( uint8_t i = 0; i < joint_positions_length; i++){ |
garyservin | 0:fd24f7ca9688 | 62 | union { |
garyservin | 0:fd24f7ca9688 | 63 | double real; |
garyservin | 0:fd24f7ca9688 | 64 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 65 | } u_joint_positionsi; |
garyservin | 0:fd24f7ca9688 | 66 | u_joint_positionsi.real = this->joint_positions[i]; |
garyservin | 0:fd24f7ca9688 | 67 | *(outbuffer + offset + 0) = (u_joint_positionsi.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 68 | *(outbuffer + offset + 1) = (u_joint_positionsi.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 69 | *(outbuffer + offset + 2) = (u_joint_positionsi.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 70 | *(outbuffer + offset + 3) = (u_joint_positionsi.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 71 | *(outbuffer + offset + 4) = (u_joint_positionsi.base >> (8 * 4)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 72 | *(outbuffer + offset + 5) = (u_joint_positionsi.base >> (8 * 5)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 73 | *(outbuffer + offset + 6) = (u_joint_positionsi.base >> (8 * 6)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 74 | *(outbuffer + offset + 7) = (u_joint_positionsi.base >> (8 * 7)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 75 | offset += sizeof(this->joint_positions[i]); |
garyservin | 0:fd24f7ca9688 | 76 | } |
garyservin | 0:fd24f7ca9688 | 77 | return offset; |
garyservin | 0:fd24f7ca9688 | 78 | } |
garyservin | 0:fd24f7ca9688 | 79 | |
garyservin | 0:fd24f7ca9688 | 80 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:fd24f7ca9688 | 81 | { |
garyservin | 0:fd24f7ca9688 | 82 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 83 | uint32_t length_model_name; |
garyservin | 0:fd24f7ca9688 | 84 | memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 85 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 86 | for(unsigned int k= offset; k< offset+length_model_name; ++k){ |
garyservin | 0:fd24f7ca9688 | 87 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:fd24f7ca9688 | 88 | } |
garyservin | 0:fd24f7ca9688 | 89 | inbuffer[offset+length_model_name-1]=0; |
garyservin | 0:fd24f7ca9688 | 90 | this->model_name = (char *)(inbuffer + offset-1); |
garyservin | 0:fd24f7ca9688 | 91 | offset += length_model_name; |
garyservin | 0:fd24f7ca9688 | 92 | uint32_t length_urdf_param_name; |
garyservin | 0:fd24f7ca9688 | 93 | memcpy(&length_urdf_param_name, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 94 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 95 | for(unsigned int k= offset; k< offset+length_urdf_param_name; ++k){ |
garyservin | 0:fd24f7ca9688 | 96 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:fd24f7ca9688 | 97 | } |
garyservin | 0:fd24f7ca9688 | 98 | inbuffer[offset+length_urdf_param_name-1]=0; |
garyservin | 0:fd24f7ca9688 | 99 | this->urdf_param_name = (char *)(inbuffer + offset-1); |
garyservin | 0:fd24f7ca9688 | 100 | offset += length_urdf_param_name; |
garyservin | 0:fd24f7ca9688 | 101 | uint8_t joint_names_lengthT = *(inbuffer + offset++); |
garyservin | 0:fd24f7ca9688 | 102 | if(joint_names_lengthT > joint_names_length) |
garyservin | 0:fd24f7ca9688 | 103 | this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); |
garyservin | 0:fd24f7ca9688 | 104 | offset += 3; |
garyservin | 0:fd24f7ca9688 | 105 | joint_names_length = joint_names_lengthT; |
garyservin | 0:fd24f7ca9688 | 106 | for( uint8_t i = 0; i < joint_names_length; i++){ |
garyservin | 0:fd24f7ca9688 | 107 | uint32_t length_st_joint_names; |
garyservin | 0:fd24f7ca9688 | 108 | memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 109 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 110 | for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ |
garyservin | 0:fd24f7ca9688 | 111 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:fd24f7ca9688 | 112 | } |
garyservin | 0:fd24f7ca9688 | 113 | inbuffer[offset+length_st_joint_names-1]=0; |
garyservin | 0:fd24f7ca9688 | 114 | this->st_joint_names = (char *)(inbuffer + offset-1); |
garyservin | 0:fd24f7ca9688 | 115 | offset += length_st_joint_names; |
garyservin | 0:fd24f7ca9688 | 116 | memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); |
garyservin | 0:fd24f7ca9688 | 117 | } |
garyservin | 0:fd24f7ca9688 | 118 | uint8_t joint_positions_lengthT = *(inbuffer + offset++); |
garyservin | 0:fd24f7ca9688 | 119 | if(joint_positions_lengthT > joint_positions_length) |
garyservin | 0:fd24f7ca9688 | 120 | this->joint_positions = (double*)realloc(this->joint_positions, joint_positions_lengthT * sizeof(double)); |
garyservin | 0:fd24f7ca9688 | 121 | offset += 3; |
garyservin | 0:fd24f7ca9688 | 122 | joint_positions_length = joint_positions_lengthT; |
garyservin | 0:fd24f7ca9688 | 123 | for( uint8_t i = 0; i < joint_positions_length; i++){ |
garyservin | 0:fd24f7ca9688 | 124 | union { |
garyservin | 0:fd24f7ca9688 | 125 | double real; |
garyservin | 0:fd24f7ca9688 | 126 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 127 | } u_st_joint_positions; |
garyservin | 0:fd24f7ca9688 | 128 | u_st_joint_positions.base = 0; |
garyservin | 0:fd24f7ca9688 | 129 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 130 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 131 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 132 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 133 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:fd24f7ca9688 | 134 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:fd24f7ca9688 | 135 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:fd24f7ca9688 | 136 | u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:fd24f7ca9688 | 137 | this->st_joint_positions = u_st_joint_positions.real; |
garyservin | 0:fd24f7ca9688 | 138 | offset += sizeof(this->st_joint_positions); |
garyservin | 0:fd24f7ca9688 | 139 | memcpy( &(this->joint_positions[i]), &(this->st_joint_positions), sizeof(double)); |
garyservin | 0:fd24f7ca9688 | 140 | } |
garyservin | 0:fd24f7ca9688 | 141 | return offset; |
garyservin | 0:fd24f7ca9688 | 142 | } |
garyservin | 0:fd24f7ca9688 | 143 | |
garyservin | 0:fd24f7ca9688 | 144 | const char * getType(){ return SETMODELCONFIGURATION; }; |
garyservin | 0:fd24f7ca9688 | 145 | const char * getMD5(){ return "160eae60f51fabff255480c70afa289f"; }; |
garyservin | 0:fd24f7ca9688 | 146 | |
garyservin | 0:fd24f7ca9688 | 147 | }; |
garyservin | 0:fd24f7ca9688 | 148 | |
garyservin | 0:fd24f7ca9688 | 149 | class SetModelConfigurationResponse : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 150 | { |
garyservin | 0:fd24f7ca9688 | 151 | public: |
garyservin | 0:fd24f7ca9688 | 152 | bool success; |
garyservin | 0:fd24f7ca9688 | 153 | const char* status_message; |
garyservin | 0:fd24f7ca9688 | 154 | |
garyservin | 0:fd24f7ca9688 | 155 | SetModelConfigurationResponse(): |
garyservin | 0:fd24f7ca9688 | 156 | success(0), |
garyservin | 0:fd24f7ca9688 | 157 | status_message("") |
garyservin | 0:fd24f7ca9688 | 158 | { |
garyservin | 0:fd24f7ca9688 | 159 | } |
garyservin | 0:fd24f7ca9688 | 160 | |
garyservin | 0:fd24f7ca9688 | 161 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:fd24f7ca9688 | 162 | { |
garyservin | 0:fd24f7ca9688 | 163 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 164 | union { |
garyservin | 0:fd24f7ca9688 | 165 | bool real; |
garyservin | 0:fd24f7ca9688 | 166 | uint8_t base; |
garyservin | 0:fd24f7ca9688 | 167 | } u_success; |
garyservin | 0:fd24f7ca9688 | 168 | u_success.real = this->success; |
garyservin | 0:fd24f7ca9688 | 169 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 170 | offset += sizeof(this->success); |
garyservin | 0:fd24f7ca9688 | 171 | uint32_t length_status_message = strlen(this->status_message); |
garyservin | 0:fd24f7ca9688 | 172 | memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 173 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 174 | memcpy(outbuffer + offset, this->status_message, length_status_message); |
garyservin | 0:fd24f7ca9688 | 175 | offset += length_status_message; |
garyservin | 0:fd24f7ca9688 | 176 | return offset; |
garyservin | 0:fd24f7ca9688 | 177 | } |
garyservin | 0:fd24f7ca9688 | 178 | |
garyservin | 0:fd24f7ca9688 | 179 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:fd24f7ca9688 | 180 | { |
garyservin | 0:fd24f7ca9688 | 181 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 182 | union { |
garyservin | 0:fd24f7ca9688 | 183 | bool real; |
garyservin | 0:fd24f7ca9688 | 184 | uint8_t base; |
garyservin | 0:fd24f7ca9688 | 185 | } u_success; |
garyservin | 0:fd24f7ca9688 | 186 | u_success.base = 0; |
garyservin | 0:fd24f7ca9688 | 187 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 188 | this->success = u_success.real; |
garyservin | 0:fd24f7ca9688 | 189 | offset += sizeof(this->success); |
garyservin | 0:fd24f7ca9688 | 190 | uint32_t length_status_message; |
garyservin | 0:fd24f7ca9688 | 191 | memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 192 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 193 | for(unsigned int k= offset; k< offset+length_status_message; ++k){ |
garyservin | 0:fd24f7ca9688 | 194 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:fd24f7ca9688 | 195 | } |
garyservin | 0:fd24f7ca9688 | 196 | inbuffer[offset+length_status_message-1]=0; |
garyservin | 0:fd24f7ca9688 | 197 | this->status_message = (char *)(inbuffer + offset-1); |
garyservin | 0:fd24f7ca9688 | 198 | offset += length_status_message; |
garyservin | 0:fd24f7ca9688 | 199 | return offset; |
garyservin | 0:fd24f7ca9688 | 200 | } |
garyservin | 0:fd24f7ca9688 | 201 | |
garyservin | 0:fd24f7ca9688 | 202 | const char * getType(){ return SETMODELCONFIGURATION; }; |
garyservin | 0:fd24f7ca9688 | 203 | const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; |
garyservin | 0:fd24f7ca9688 | 204 | |
garyservin | 0:fd24f7ca9688 | 205 | }; |
garyservin | 0:fd24f7ca9688 | 206 | |
garyservin | 0:fd24f7ca9688 | 207 | class SetModelConfiguration { |
garyservin | 0:fd24f7ca9688 | 208 | public: |
garyservin | 0:fd24f7ca9688 | 209 | typedef SetModelConfigurationRequest Request; |
garyservin | 0:fd24f7ca9688 | 210 | typedef SetModelConfigurationResponse Response; |
garyservin | 0:fd24f7ca9688 | 211 | }; |
garyservin | 0:fd24f7ca9688 | 212 | |
garyservin | 0:fd24f7ca9688 | 213 | } |
garyservin | 0:fd24f7ca9688 | 214 | #endif |