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(); } }
stereo_msgs/DisparityImage.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_stereo_msgs_DisparityImage_h |
garyservin | 0:fd24f7ca9688 | 2 | #define _ROS_stereo_msgs_DisparityImage_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 "sensor_msgs/Image.h" |
garyservin | 0:fd24f7ca9688 | 10 | #include "sensor_msgs/RegionOfInterest.h" |
garyservin | 0:fd24f7ca9688 | 11 | |
garyservin | 0:fd24f7ca9688 | 12 | namespace stereo_msgs |
garyservin | 0:fd24f7ca9688 | 13 | { |
garyservin | 0:fd24f7ca9688 | 14 | |
garyservin | 0:fd24f7ca9688 | 15 | class DisparityImage : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 16 | { |
garyservin | 0:fd24f7ca9688 | 17 | public: |
garyservin | 0:fd24f7ca9688 | 18 | std_msgs::Header header; |
garyservin | 0:fd24f7ca9688 | 19 | sensor_msgs::Image image; |
garyservin | 0:fd24f7ca9688 | 20 | float f; |
garyservin | 0:fd24f7ca9688 | 21 | float T; |
garyservin | 0:fd24f7ca9688 | 22 | sensor_msgs::RegionOfInterest valid_window; |
garyservin | 0:fd24f7ca9688 | 23 | float min_disparity; |
garyservin | 0:fd24f7ca9688 | 24 | float max_disparity; |
garyservin | 0:fd24f7ca9688 | 25 | float delta_d; |
garyservin | 0:fd24f7ca9688 | 26 | |
garyservin | 0:fd24f7ca9688 | 27 | DisparityImage(): |
garyservin | 0:fd24f7ca9688 | 28 | header(), |
garyservin | 0:fd24f7ca9688 | 29 | image(), |
garyservin | 0:fd24f7ca9688 | 30 | f(0), |
garyservin | 0:fd24f7ca9688 | 31 | T(0), |
garyservin | 0:fd24f7ca9688 | 32 | valid_window(), |
garyservin | 0:fd24f7ca9688 | 33 | min_disparity(0), |
garyservin | 0:fd24f7ca9688 | 34 | max_disparity(0), |
garyservin | 0:fd24f7ca9688 | 35 | delta_d(0) |
garyservin | 0:fd24f7ca9688 | 36 | { |
garyservin | 0:fd24f7ca9688 | 37 | } |
garyservin | 0:fd24f7ca9688 | 38 | |
garyservin | 0:fd24f7ca9688 | 39 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:fd24f7ca9688 | 40 | { |
garyservin | 0:fd24f7ca9688 | 41 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 42 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 43 | offset += this->image.serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 44 | union { |
garyservin | 0:fd24f7ca9688 | 45 | float real; |
garyservin | 0:fd24f7ca9688 | 46 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 47 | } u_f; |
garyservin | 0:fd24f7ca9688 | 48 | u_f.real = this->f; |
garyservin | 0:fd24f7ca9688 | 49 | *(outbuffer + offset + 0) = (u_f.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 50 | *(outbuffer + offset + 1) = (u_f.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 51 | *(outbuffer + offset + 2) = (u_f.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 52 | *(outbuffer + offset + 3) = (u_f.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 53 | offset += sizeof(this->f); |
garyservin | 0:fd24f7ca9688 | 54 | union { |
garyservin | 0:fd24f7ca9688 | 55 | float real; |
garyservin | 0:fd24f7ca9688 | 56 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 57 | } u_T; |
garyservin | 0:fd24f7ca9688 | 58 | u_T.real = this->T; |
garyservin | 0:fd24f7ca9688 | 59 | *(outbuffer + offset + 0) = (u_T.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 60 | *(outbuffer + offset + 1) = (u_T.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 61 | *(outbuffer + offset + 2) = (u_T.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 62 | *(outbuffer + offset + 3) = (u_T.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 63 | offset += sizeof(this->T); |
garyservin | 0:fd24f7ca9688 | 64 | offset += this->valid_window.serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 65 | union { |
garyservin | 0:fd24f7ca9688 | 66 | float real; |
garyservin | 0:fd24f7ca9688 | 67 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 68 | } u_min_disparity; |
garyservin | 0:fd24f7ca9688 | 69 | u_min_disparity.real = this->min_disparity; |
garyservin | 0:fd24f7ca9688 | 70 | *(outbuffer + offset + 0) = (u_min_disparity.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 71 | *(outbuffer + offset + 1) = (u_min_disparity.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 72 | *(outbuffer + offset + 2) = (u_min_disparity.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 73 | *(outbuffer + offset + 3) = (u_min_disparity.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 74 | offset += sizeof(this->min_disparity); |
garyservin | 0:fd24f7ca9688 | 75 | union { |
garyservin | 0:fd24f7ca9688 | 76 | float real; |
garyservin | 0:fd24f7ca9688 | 77 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 78 | } u_max_disparity; |
garyservin | 0:fd24f7ca9688 | 79 | u_max_disparity.real = this->max_disparity; |
garyservin | 0:fd24f7ca9688 | 80 | *(outbuffer + offset + 0) = (u_max_disparity.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 81 | *(outbuffer + offset + 1) = (u_max_disparity.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 82 | *(outbuffer + offset + 2) = (u_max_disparity.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 83 | *(outbuffer + offset + 3) = (u_max_disparity.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 84 | offset += sizeof(this->max_disparity); |
garyservin | 0:fd24f7ca9688 | 85 | union { |
garyservin | 0:fd24f7ca9688 | 86 | float real; |
garyservin | 0:fd24f7ca9688 | 87 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 88 | } u_delta_d; |
garyservin | 0:fd24f7ca9688 | 89 | u_delta_d.real = this->delta_d; |
garyservin | 0:fd24f7ca9688 | 90 | *(outbuffer + offset + 0) = (u_delta_d.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 91 | *(outbuffer + offset + 1) = (u_delta_d.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 92 | *(outbuffer + offset + 2) = (u_delta_d.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 93 | *(outbuffer + offset + 3) = (u_delta_d.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 94 | offset += sizeof(this->delta_d); |
garyservin | 0:fd24f7ca9688 | 95 | return offset; |
garyservin | 0:fd24f7ca9688 | 96 | } |
garyservin | 0:fd24f7ca9688 | 97 | |
garyservin | 0:fd24f7ca9688 | 98 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:fd24f7ca9688 | 99 | { |
garyservin | 0:fd24f7ca9688 | 100 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 101 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 102 | offset += this->image.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 103 | union { |
garyservin | 0:fd24f7ca9688 | 104 | float real; |
garyservin | 0:fd24f7ca9688 | 105 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 106 | } u_f; |
garyservin | 0:fd24f7ca9688 | 107 | u_f.base = 0; |
garyservin | 0:fd24f7ca9688 | 108 | u_f.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 109 | u_f.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 110 | u_f.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 111 | u_f.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 112 | this->f = u_f.real; |
garyservin | 0:fd24f7ca9688 | 113 | offset += sizeof(this->f); |
garyservin | 0:fd24f7ca9688 | 114 | union { |
garyservin | 0:fd24f7ca9688 | 115 | float real; |
garyservin | 0:fd24f7ca9688 | 116 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 117 | } u_T; |
garyservin | 0:fd24f7ca9688 | 118 | u_T.base = 0; |
garyservin | 0:fd24f7ca9688 | 119 | u_T.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 120 | u_T.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 121 | u_T.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 122 | u_T.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 123 | this->T = u_T.real; |
garyservin | 0:fd24f7ca9688 | 124 | offset += sizeof(this->T); |
garyservin | 0:fd24f7ca9688 | 125 | offset += this->valid_window.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 126 | union { |
garyservin | 0:fd24f7ca9688 | 127 | float real; |
garyservin | 0:fd24f7ca9688 | 128 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 129 | } u_min_disparity; |
garyservin | 0:fd24f7ca9688 | 130 | u_min_disparity.base = 0; |
garyservin | 0:fd24f7ca9688 | 131 | u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 132 | u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 133 | u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 134 | u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 135 | this->min_disparity = u_min_disparity.real; |
garyservin | 0:fd24f7ca9688 | 136 | offset += sizeof(this->min_disparity); |
garyservin | 0:fd24f7ca9688 | 137 | union { |
garyservin | 0:fd24f7ca9688 | 138 | float real; |
garyservin | 0:fd24f7ca9688 | 139 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 140 | } u_max_disparity; |
garyservin | 0:fd24f7ca9688 | 141 | u_max_disparity.base = 0; |
garyservin | 0:fd24f7ca9688 | 142 | u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 143 | u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 144 | u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 145 | u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 146 | this->max_disparity = u_max_disparity.real; |
garyservin | 0:fd24f7ca9688 | 147 | offset += sizeof(this->max_disparity); |
garyservin | 0:fd24f7ca9688 | 148 | union { |
garyservin | 0:fd24f7ca9688 | 149 | float real; |
garyservin | 0:fd24f7ca9688 | 150 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 151 | } u_delta_d; |
garyservin | 0:fd24f7ca9688 | 152 | u_delta_d.base = 0; |
garyservin | 0:fd24f7ca9688 | 153 | u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 154 | u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 155 | u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 156 | u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 157 | this->delta_d = u_delta_d.real; |
garyservin | 0:fd24f7ca9688 | 158 | offset += sizeof(this->delta_d); |
garyservin | 0:fd24f7ca9688 | 159 | return offset; |
garyservin | 0:fd24f7ca9688 | 160 | } |
garyservin | 0:fd24f7ca9688 | 161 | |
garyservin | 0:fd24f7ca9688 | 162 | const char * getType(){ return "stereo_msgs/DisparityImage"; }; |
garyservin | 0:fd24f7ca9688 | 163 | const char * getMD5(){ return "04a177815f75271039fa21f16acad8c9"; }; |
garyservin | 0:fd24f7ca9688 | 164 | |
garyservin | 0:fd24f7ca9688 | 165 | }; |
garyservin | 0:fd24f7ca9688 | 166 | |
garyservin | 0:fd24f7ca9688 | 167 | } |
garyservin | 0:fd24f7ca9688 | 168 | #endif |