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(); } }
Diff: MbedHardware.h
- Revision:
- 0:fd24f7ca9688
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MbedHardware.h Thu Mar 31 14:22:59 2016 +0000 @@ -0,0 +1,60 @@ +/* + * MbedHardware + * + * Created on: Aug 17, 2011 + * Author: nucho + */ + +#ifndef ROS_MBED_HARDWARE_H_ +#define ROS_MBED_HARDWARE_H_ + +#include "mbed.h" + +#include "BufferedSerial.h" + +class MbedHardware { + public: + MbedHardware(PinName tx, PinName rx, long baud = 57600) + :iostream(tx, rx){ + baud_ = baud; + t.start(); + } + + MbedHardware() + :iostream(USBTX, USBRX) { + baud_ = 57600; + t.start(); + } + + void setBaud(long baud){ + this->baud_= baud; + } + + int getBaud(){return baud_;} + + void init(){ + iostream.baud(baud_); + } + + int read(){ + if (iostream.readable()) { + return iostream.getc(); + } else { + return -1; + } + }; + void write(uint8_t* data, int length) { + for (int i=0; i<length; i++) + iostream.putc(data[i]); + } + + unsigned long time(){return t.read_ms();} + +protected: + BufferedSerial iostream; + long baud_; + Timer t; +}; + + +#endif /* ROS_MBED_HARDWARE_H_ */