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: diagnostic_msgs/DiagnosticStatus.h
- Revision:
- 0:fd24f7ca9688
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/diagnostic_msgs/DiagnosticStatus.h Thu Mar 31 14:22:59 2016 +0000 @@ -0,0 +1,128 @@ +#ifndef _ROS_diagnostic_msgs_DiagnosticStatus_h +#define _ROS_diagnostic_msgs_DiagnosticStatus_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "diagnostic_msgs/KeyValue.h" + +namespace diagnostic_msgs +{ + + class DiagnosticStatus : public ros::Msg + { + public: + int8_t level; + const char* name; + const char* message; + const char* hardware_id; + uint8_t values_length; + diagnostic_msgs::KeyValue st_values; + diagnostic_msgs::KeyValue * values; + enum { OK = 0 }; + enum { WARN = 1 }; + enum { ERROR = 2 }; + enum { STALE = 3 }; + + DiagnosticStatus(): + level(0), + name(""), + message(""), + hardware_id(""), + values_length(0), values(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + union { + int8_t real; + uint8_t base; + } u_level; + u_level.real = this->level; + *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF; + offset += sizeof(this->level); + uint32_t length_name = strlen(this->name); + memcpy(outbuffer + offset, &length_name, sizeof(uint32_t)); + offset += 4; + memcpy(outbuffer + offset, this->name, length_name); + offset += length_name; + uint32_t length_message = strlen(this->message); + memcpy(outbuffer + offset, &length_message, sizeof(uint32_t)); + offset += 4; + memcpy(outbuffer + offset, this->message, length_message); + offset += length_message; + uint32_t length_hardware_id = strlen(this->hardware_id); + memcpy(outbuffer + offset, &length_hardware_id, sizeof(uint32_t)); + offset += 4; + memcpy(outbuffer + offset, this->hardware_id, length_hardware_id); + offset += length_hardware_id; + *(outbuffer + offset++) = values_length; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + for( uint8_t i = 0; i < values_length; i++){ + offset += this->values[i].serialize(outbuffer + offset); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + union { + int8_t real; + uint8_t base; + } u_level; + u_level.base = 0; + u_level.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->level = u_level.real; + offset += sizeof(this->level); + uint32_t length_name; + memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t)); + offset += 4; + for(unsigned int k= offset; k< offset+length_name; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_name-1]=0; + this->name = (char *)(inbuffer + offset-1); + offset += length_name; + uint32_t length_message; + memcpy(&length_message, (inbuffer + offset), sizeof(uint32_t)); + offset += 4; + for(unsigned int k= offset; k< offset+length_message; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_message-1]=0; + this->message = (char *)(inbuffer + offset-1); + offset += length_message; + uint32_t length_hardware_id; + memcpy(&length_hardware_id, (inbuffer + offset), sizeof(uint32_t)); + offset += 4; + for(unsigned int k= offset; k< offset+length_hardware_id; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_hardware_id-1]=0; + this->hardware_id = (char *)(inbuffer + offset-1); + offset += length_hardware_id; + uint8_t values_lengthT = *(inbuffer + offset++); + if(values_lengthT > values_length) + this->values = (diagnostic_msgs::KeyValue*)realloc(this->values, values_lengthT * sizeof(diagnostic_msgs::KeyValue)); + offset += 3; + values_length = values_lengthT; + for( uint8_t i = 0; i < values_length; i++){ + offset += this->st_values.deserialize(inbuffer + offset); + memcpy( &(this->values[i]), &(this->st_values), sizeof(diagnostic_msgs::KeyValue)); + } + return offset; + } + + const char * getType(){ return "diagnostic_msgs/DiagnosticStatus"; }; + const char * getMD5(){ return "d0ce08bc6e5ba34c7754f563a9cabaf1"; }; + + }; + +} +#endif \ No newline at end of file