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(); } }
sensor_msgs/PointCloud.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_sensor_msgs_PointCloud_h |
garyservin | 0:fd24f7ca9688 | 2 | #define _ROS_sensor_msgs_PointCloud_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 "std_msgs/Header.h" |
garyservin | 0:fd24f7ca9688 | 9 | #include "geometry_msgs/Point32.h" |
garyservin | 0:fd24f7ca9688 | 10 | #include "sensor_msgs/ChannelFloat32.h" |
garyservin | 0:fd24f7ca9688 | 11 | |
garyservin | 0:fd24f7ca9688 | 12 | namespace sensor_msgs |
garyservin | 0:fd24f7ca9688 | 13 | { |
garyservin | 0:fd24f7ca9688 | 14 | |
garyservin | 0:fd24f7ca9688 | 15 | class PointCloud : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 16 | { |
garyservin | 0:fd24f7ca9688 | 17 | public: |
garyservin | 0:fd24f7ca9688 | 18 | std_msgs::Header header; |
garyservin | 0:fd24f7ca9688 | 19 | uint8_t points_length; |
garyservin | 0:fd24f7ca9688 | 20 | geometry_msgs::Point32 st_points; |
garyservin | 0:fd24f7ca9688 | 21 | geometry_msgs::Point32 * points; |
garyservin | 0:fd24f7ca9688 | 22 | uint8_t channels_length; |
garyservin | 0:fd24f7ca9688 | 23 | sensor_msgs::ChannelFloat32 st_channels; |
garyservin | 0:fd24f7ca9688 | 24 | sensor_msgs::ChannelFloat32 * channels; |
garyservin | 0:fd24f7ca9688 | 25 | |
garyservin | 0:fd24f7ca9688 | 26 | PointCloud(): |
garyservin | 0:fd24f7ca9688 | 27 | header(), |
garyservin | 0:fd24f7ca9688 | 28 | points_length(0), points(NULL), |
garyservin | 0:fd24f7ca9688 | 29 | channels_length(0), channels(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 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 37 | *(outbuffer + offset++) = points_length; |
garyservin | 0:fd24f7ca9688 | 38 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 39 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 40 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 41 | for( uint8_t i = 0; i < points_length; i++){ |
garyservin | 0:fd24f7ca9688 | 42 | offset += this->points[i].serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 43 | } |
garyservin | 0:fd24f7ca9688 | 44 | *(outbuffer + offset++) = channels_length; |
garyservin | 0:fd24f7ca9688 | 45 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 46 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 47 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 48 | for( uint8_t i = 0; i < channels_length; i++){ |
garyservin | 0:fd24f7ca9688 | 49 | offset += this->channels[i].serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 50 | } |
garyservin | 0:fd24f7ca9688 | 51 | return offset; |
garyservin | 0:fd24f7ca9688 | 52 | } |
garyservin | 0:fd24f7ca9688 | 53 | |
garyservin | 0:fd24f7ca9688 | 54 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:fd24f7ca9688 | 55 | { |
garyservin | 0:fd24f7ca9688 | 56 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 57 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 58 | uint8_t points_lengthT = *(inbuffer + offset++); |
garyservin | 0:fd24f7ca9688 | 59 | if(points_lengthT > points_length) |
garyservin | 0:fd24f7ca9688 | 60 | this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32)); |
garyservin | 0:fd24f7ca9688 | 61 | offset += 3; |
garyservin | 0:fd24f7ca9688 | 62 | points_length = points_lengthT; |
garyservin | 0:fd24f7ca9688 | 63 | for( uint8_t i = 0; i < points_length; i++){ |
garyservin | 0:fd24f7ca9688 | 64 | offset += this->st_points.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 65 | memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32)); |
garyservin | 0:fd24f7ca9688 | 66 | } |
garyservin | 0:fd24f7ca9688 | 67 | uint8_t channels_lengthT = *(inbuffer + offset++); |
garyservin | 0:fd24f7ca9688 | 68 | if(channels_lengthT > channels_length) |
garyservin | 0:fd24f7ca9688 | 69 | this->channels = (sensor_msgs::ChannelFloat32*)realloc(this->channels, channels_lengthT * sizeof(sensor_msgs::ChannelFloat32)); |
garyservin | 0:fd24f7ca9688 | 70 | offset += 3; |
garyservin | 0:fd24f7ca9688 | 71 | channels_length = channels_lengthT; |
garyservin | 0:fd24f7ca9688 | 72 | for( uint8_t i = 0; i < channels_length; i++){ |
garyservin | 0:fd24f7ca9688 | 73 | offset += this->st_channels.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 74 | memcpy( &(this->channels[i]), &(this->st_channels), sizeof(sensor_msgs::ChannelFloat32)); |
garyservin | 0:fd24f7ca9688 | 75 | } |
garyservin | 0:fd24f7ca9688 | 76 | return offset; |
garyservin | 0:fd24f7ca9688 | 77 | } |
garyservin | 0:fd24f7ca9688 | 78 | |
garyservin | 0:fd24f7ca9688 | 79 | const char * getType(){ return "sensor_msgs/PointCloud"; }; |
garyservin | 0:fd24f7ca9688 | 80 | const char * getMD5(){ return "d8e9c3f5afbdd8a130fd1d2763945fca"; }; |
garyservin | 0:fd24f7ca9688 | 81 | |
garyservin | 0:fd24f7ca9688 | 82 | }; |
garyservin | 0:fd24f7ca9688 | 83 | |
garyservin | 0:fd24f7ca9688 | 84 | } |
garyservin | 0:fd24f7ca9688 | 85 | #endif |