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 /*
garyservin 0:fd24f7ca9688 2 * Software License Agreement (BSD License)
garyservin 0:fd24f7ca9688 3 *
garyservin 0:fd24f7ca9688 4 * Copyright (c) 2011, Willow Garage, Inc.
garyservin 0:fd24f7ca9688 5 * All rights reserved.
garyservin 0:fd24f7ca9688 6 *
garyservin 0:fd24f7ca9688 7 * Redistribution and use in source and binary forms, with or without
garyservin 0:fd24f7ca9688 8 * modification, are permitted provided that the following conditions
garyservin 0:fd24f7ca9688 9 * are met:
garyservin 0:fd24f7ca9688 10 *
garyservin 0:fd24f7ca9688 11 * * Redistributions of source code must retain the above copyright
garyservin 0:fd24f7ca9688 12 * notice, this list of conditions and the following disclaimer.
garyservin 0:fd24f7ca9688 13 * * Redistributions in binary form must reproduce the above
garyservin 0:fd24f7ca9688 14 * copyright notice, this list of conditions and the following
garyservin 0:fd24f7ca9688 15 * disclaimer in the documentation and/or other materials provided
garyservin 0:fd24f7ca9688 16 * with the distribution.
garyservin 0:fd24f7ca9688 17 * * Neither the name of Willow Garage, Inc. nor the names of its
garyservin 0:fd24f7ca9688 18 * contributors may be used to endorse or promote prducts derived
garyservin 0:fd24f7ca9688 19 * from this software without specific prior written permission.
garyservin 0:fd24f7ca9688 20 *
garyservin 0:fd24f7ca9688 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
garyservin 0:fd24f7ca9688 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
garyservin 0:fd24f7ca9688 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
garyservin 0:fd24f7ca9688 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
garyservin 0:fd24f7ca9688 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
garyservin 0:fd24f7ca9688 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
garyservin 0:fd24f7ca9688 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
garyservin 0:fd24f7ca9688 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
garyservin 0:fd24f7ca9688 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
garyservin 0:fd24f7ca9688 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
garyservin 0:fd24f7ca9688 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
garyservin 0:fd24f7ca9688 32 * POSSIBILITY OF SUCH DAMAGE.
garyservin 0:fd24f7ca9688 33 */
garyservin 0:fd24f7ca9688 34
garyservin 0:fd24f7ca9688 35 #ifndef _ROS_DURATION_H_
garyservin 0:fd24f7ca9688 36 #define _ROS_DURATION_H_
garyservin 0:fd24f7ca9688 37
garyservin 0:fd24f7ca9688 38 #include <math.h>
garyservin 0:fd24f7ca9688 39 #include <stdint.h>
garyservin 0:fd24f7ca9688 40
garyservin 0:fd24f7ca9688 41 namespace ros {
garyservin 0:fd24f7ca9688 42
garyservin 0:fd24f7ca9688 43 void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);
garyservin 0:fd24f7ca9688 44
garyservin 0:fd24f7ca9688 45 class Duration
garyservin 0:fd24f7ca9688 46 {
garyservin 0:fd24f7ca9688 47 public:
garyservin 0:fd24f7ca9688 48 int32_t sec, nsec;
garyservin 0:fd24f7ca9688 49
garyservin 0:fd24f7ca9688 50 Duration() : sec(0), nsec(0) {}
garyservin 0:fd24f7ca9688 51 Duration(int32_t _sec, int32_t _nsec) : sec(_sec), nsec(_nsec)
garyservin 0:fd24f7ca9688 52 {
garyservin 0:fd24f7ca9688 53 normalizeSecNSecSigned(sec, nsec);
garyservin 0:fd24f7ca9688 54 }
garyservin 0:fd24f7ca9688 55
garyservin 0:fd24f7ca9688 56 double round(double number) { return number < 0.0 ? ceil(number - 0.5): floor(number + 0.5); }
garyservin 0:fd24f7ca9688 57 double toSec() const { return (double)sec + 1e-9*(double)nsec; };
garyservin 0:fd24f7ca9688 58 void fromSec(double t) { sec = (uint32_t) floor(t); nsec = (uint32_t) round((t-sec) * 1e9); };
garyservin 0:fd24f7ca9688 59
garyservin 0:fd24f7ca9688 60 Duration& operator+=(const Duration &rhs);
garyservin 0:fd24f7ca9688 61 Duration& operator-=(const Duration &rhs);
garyservin 0:fd24f7ca9688 62 Duration& operator*=(double scale);
garyservin 0:fd24f7ca9688 63 };
garyservin 0:fd24f7ca9688 64
garyservin 0:fd24f7ca9688 65 }
garyservin 0:fd24f7ca9688 66
garyservin 0:fd24f7ca9688 67 #endif
garyservin 0:fd24f7ca9688 68