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(); } }
turtlesim/Pose.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_turtlesim_Pose_h |
garyservin | 0:fd24f7ca9688 | 2 | #define _ROS_turtlesim_Pose_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 | |
garyservin | 0:fd24f7ca9688 | 9 | namespace turtlesim |
garyservin | 0:fd24f7ca9688 | 10 | { |
garyservin | 0:fd24f7ca9688 | 11 | |
garyservin | 0:fd24f7ca9688 | 12 | class Pose : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 13 | { |
garyservin | 0:fd24f7ca9688 | 14 | public: |
garyservin | 0:fd24f7ca9688 | 15 | float x; |
garyservin | 0:fd24f7ca9688 | 16 | float y; |
garyservin | 0:fd24f7ca9688 | 17 | float theta; |
garyservin | 0:fd24f7ca9688 | 18 | float linear_velocity; |
garyservin | 0:fd24f7ca9688 | 19 | float angular_velocity; |
garyservin | 0:fd24f7ca9688 | 20 | |
garyservin | 0:fd24f7ca9688 | 21 | Pose(): |
garyservin | 0:fd24f7ca9688 | 22 | x(0), |
garyservin | 0:fd24f7ca9688 | 23 | y(0), |
garyservin | 0:fd24f7ca9688 | 24 | theta(0), |
garyservin | 0:fd24f7ca9688 | 25 | linear_velocity(0), |
garyservin | 0:fd24f7ca9688 | 26 | angular_velocity(0) |
garyservin | 0:fd24f7ca9688 | 27 | { |
garyservin | 0:fd24f7ca9688 | 28 | } |
garyservin | 0:fd24f7ca9688 | 29 | |
garyservin | 0:fd24f7ca9688 | 30 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:fd24f7ca9688 | 31 | { |
garyservin | 0:fd24f7ca9688 | 32 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 33 | union { |
garyservin | 0:fd24f7ca9688 | 34 | float real; |
garyservin | 0:fd24f7ca9688 | 35 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 36 | } u_x; |
garyservin | 0:fd24f7ca9688 | 37 | u_x.real = this->x; |
garyservin | 0:fd24f7ca9688 | 38 | *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 39 | *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 40 | *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 41 | *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 42 | offset += sizeof(this->x); |
garyservin | 0:fd24f7ca9688 | 43 | union { |
garyservin | 0:fd24f7ca9688 | 44 | float real; |
garyservin | 0:fd24f7ca9688 | 45 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 46 | } u_y; |
garyservin | 0:fd24f7ca9688 | 47 | u_y.real = this->y; |
garyservin | 0:fd24f7ca9688 | 48 | *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 49 | *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 50 | *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 51 | *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 52 | offset += sizeof(this->y); |
garyservin | 0:fd24f7ca9688 | 53 | union { |
garyservin | 0:fd24f7ca9688 | 54 | float real; |
garyservin | 0:fd24f7ca9688 | 55 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 56 | } u_theta; |
garyservin | 0:fd24f7ca9688 | 57 | u_theta.real = this->theta; |
garyservin | 0:fd24f7ca9688 | 58 | *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 59 | *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 60 | *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 61 | *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 62 | offset += sizeof(this->theta); |
garyservin | 0:fd24f7ca9688 | 63 | union { |
garyservin | 0:fd24f7ca9688 | 64 | float real; |
garyservin | 0:fd24f7ca9688 | 65 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 66 | } u_linear_velocity; |
garyservin | 0:fd24f7ca9688 | 67 | u_linear_velocity.real = this->linear_velocity; |
garyservin | 0:fd24f7ca9688 | 68 | *(outbuffer + offset + 0) = (u_linear_velocity.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 69 | *(outbuffer + offset + 1) = (u_linear_velocity.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 70 | *(outbuffer + offset + 2) = (u_linear_velocity.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 71 | *(outbuffer + offset + 3) = (u_linear_velocity.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 72 | offset += sizeof(this->linear_velocity); |
garyservin | 0:fd24f7ca9688 | 73 | union { |
garyservin | 0:fd24f7ca9688 | 74 | float real; |
garyservin | 0:fd24f7ca9688 | 75 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 76 | } u_angular_velocity; |
garyservin | 0:fd24f7ca9688 | 77 | u_angular_velocity.real = this->angular_velocity; |
garyservin | 0:fd24f7ca9688 | 78 | *(outbuffer + offset + 0) = (u_angular_velocity.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 79 | *(outbuffer + offset + 1) = (u_angular_velocity.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 80 | *(outbuffer + offset + 2) = (u_angular_velocity.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 81 | *(outbuffer + offset + 3) = (u_angular_velocity.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 82 | offset += sizeof(this->angular_velocity); |
garyservin | 0:fd24f7ca9688 | 83 | return offset; |
garyservin | 0:fd24f7ca9688 | 84 | } |
garyservin | 0:fd24f7ca9688 | 85 | |
garyservin | 0:fd24f7ca9688 | 86 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:fd24f7ca9688 | 87 | { |
garyservin | 0:fd24f7ca9688 | 88 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 89 | union { |
garyservin | 0:fd24f7ca9688 | 90 | float real; |
garyservin | 0:fd24f7ca9688 | 91 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 92 | } u_x; |
garyservin | 0:fd24f7ca9688 | 93 | u_x.base = 0; |
garyservin | 0:fd24f7ca9688 | 94 | u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 95 | u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 96 | u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 97 | u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 98 | this->x = u_x.real; |
garyservin | 0:fd24f7ca9688 | 99 | offset += sizeof(this->x); |
garyservin | 0:fd24f7ca9688 | 100 | union { |
garyservin | 0:fd24f7ca9688 | 101 | float real; |
garyservin | 0:fd24f7ca9688 | 102 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 103 | } u_y; |
garyservin | 0:fd24f7ca9688 | 104 | u_y.base = 0; |
garyservin | 0:fd24f7ca9688 | 105 | u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 106 | u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 107 | u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 108 | u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 109 | this->y = u_y.real; |
garyservin | 0:fd24f7ca9688 | 110 | offset += sizeof(this->y); |
garyservin | 0:fd24f7ca9688 | 111 | union { |
garyservin | 0:fd24f7ca9688 | 112 | float real; |
garyservin | 0:fd24f7ca9688 | 113 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 114 | } u_theta; |
garyservin | 0:fd24f7ca9688 | 115 | u_theta.base = 0; |
garyservin | 0:fd24f7ca9688 | 116 | u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 117 | u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 118 | u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 119 | u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 120 | this->theta = u_theta.real; |
garyservin | 0:fd24f7ca9688 | 121 | offset += sizeof(this->theta); |
garyservin | 0:fd24f7ca9688 | 122 | union { |
garyservin | 0:fd24f7ca9688 | 123 | float real; |
garyservin | 0:fd24f7ca9688 | 124 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 125 | } u_linear_velocity; |
garyservin | 0:fd24f7ca9688 | 126 | u_linear_velocity.base = 0; |
garyservin | 0:fd24f7ca9688 | 127 | u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 128 | u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 129 | u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 130 | u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 131 | this->linear_velocity = u_linear_velocity.real; |
garyservin | 0:fd24f7ca9688 | 132 | offset += sizeof(this->linear_velocity); |
garyservin | 0:fd24f7ca9688 | 133 | union { |
garyservin | 0:fd24f7ca9688 | 134 | float real; |
garyservin | 0:fd24f7ca9688 | 135 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 136 | } u_angular_velocity; |
garyservin | 0:fd24f7ca9688 | 137 | u_angular_velocity.base = 0; |
garyservin | 0:fd24f7ca9688 | 138 | u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 139 | u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 140 | u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 141 | u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 142 | this->angular_velocity = u_angular_velocity.real; |
garyservin | 0:fd24f7ca9688 | 143 | offset += sizeof(this->angular_velocity); |
garyservin | 0:fd24f7ca9688 | 144 | return offset; |
garyservin | 0:fd24f7ca9688 | 145 | } |
garyservin | 0:fd24f7ca9688 | 146 | |
garyservin | 0:fd24f7ca9688 | 147 | const char * getType(){ return "turtlesim/Pose"; }; |
garyservin | 0:fd24f7ca9688 | 148 | const char * getMD5(){ return "863b248d5016ca62ea2e895ae5265cf9"; }; |
garyservin | 0:fd24f7ca9688 | 149 | |
garyservin | 0:fd24f7ca9688 | 150 | }; |
garyservin | 0:fd24f7ca9688 | 151 | |
garyservin | 0:fd24f7ca9688 | 152 | } |
garyservin | 0:fd24f7ca9688 | 153 | #endif |