Gary Servin / ros_lib_indigo

ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information

Dependencies:   BufferedSerial

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

Last commit 19 Apr 2016 by Gary Servin

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: gazebo_msgs/GetJointProperties.h

Revision:
0:fd24f7ca9688
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/GetJointProperties.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,272 @@
+#ifndef _ROS_SERVICE_GetJointProperties_h
+#define _ROS_SERVICE_GetJointProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETJOINTPROPERTIES[] = "gazebo_msgs/GetJointProperties";
+
+  class GetJointPropertiesRequest : public ros::Msg
+  {
+    public:
+      const char* joint_name;
+
+    GetJointPropertiesRequest():
+      joint_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_joint_name = strlen(this->joint_name);
+      memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_name, length_joint_name);
+      offset += length_joint_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_joint_name;
+      memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_joint_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_joint_name-1]=0;
+      this->joint_name = (char *)(inbuffer + offset-1);
+      offset += length_joint_name;
+     return offset;
+    }
+
+    const char * getType(){ return GETJOINTPROPERTIES; };
+    const char * getMD5(){ return "0be1351618e1dc030eb7959d9a4902de"; };
+
+  };
+
+  class GetJointPropertiesResponse : public ros::Msg
+  {
+    public:
+      uint8_t type;
+      uint8_t damping_length;
+      double st_damping;
+      double * damping;
+      uint8_t position_length;
+      double st_position;
+      double * position;
+      uint8_t rate_length;
+      double st_rate;
+      double * rate;
+      bool success;
+      const char* status_message;
+      enum { REVOLUTE =  0                 };
+      enum { CONTINUOUS =  1                 };
+      enum { PRISMATIC =  2                 };
+      enum { FIXED =  3                 };
+      enum { BALL =  4                 };
+      enum { UNIVERSAL =  5                 };
+
+    GetJointPropertiesResponse():
+      type(0),
+      damping_length(0), damping(NULL),
+      position_length(0), position(NULL),
+      rate_length(0), rate(NULL),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->type);
+      *(outbuffer + offset++) = damping_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < damping_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_dampingi;
+      u_dampingi.real = this->damping[i];
+      *(outbuffer + offset + 0) = (u_dampingi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dampingi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dampingi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dampingi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_dampingi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_dampingi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_dampingi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_dampingi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->damping[i]);
+      }
+      *(outbuffer + offset++) = position_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_positioni;
+      u_positioni.real = this->position[i];
+      *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position[i]);
+      }
+      *(outbuffer + offset++) = rate_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < rate_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_ratei;
+      u_ratei.real = this->rate[i];
+      *(outbuffer + offset + 0) = (u_ratei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ratei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ratei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ratei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ratei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ratei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ratei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ratei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->rate[i]);
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->type);
+      uint8_t damping_lengthT = *(inbuffer + offset++);
+      if(damping_lengthT > damping_length)
+        this->damping = (double*)realloc(this->damping, damping_lengthT * sizeof(double));
+      offset += 3;
+      damping_length = damping_lengthT;
+      for( uint8_t i = 0; i < damping_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_damping;
+      u_st_damping.base = 0;
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_damping = u_st_damping.real;
+      offset += sizeof(this->st_damping);
+        memcpy( &(this->damping[i]), &(this->st_damping), sizeof(double));
+      }
+      uint8_t position_lengthT = *(inbuffer + offset++);
+      if(position_lengthT > position_length)
+        this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
+      offset += 3;
+      position_length = position_lengthT;
+      for( uint8_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_position;
+      u_st_position.base = 0;
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_position = u_st_position.real;
+      offset += sizeof(this->st_position);
+        memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
+      }
+      uint8_t rate_lengthT = *(inbuffer + offset++);
+      if(rate_lengthT > rate_length)
+        this->rate = (double*)realloc(this->rate, rate_lengthT * sizeof(double));
+      offset += 3;
+      rate_length = rate_lengthT;
+      for( uint8_t i = 0; i < rate_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_rate;
+      u_st_rate.base = 0;
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_rate = u_st_rate.real;
+      offset += sizeof(this->st_rate);
+        memcpy( &(this->rate[i]), &(this->st_rate), sizeof(double));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETJOINTPROPERTIES; };
+    const char * getMD5(){ return "cd7b30a39faa372283dc94c5f6457f82"; };
+
+  };
+
+  class GetJointProperties {
+    public:
+    typedef GetJointPropertiesRequest Request;
+    typedef GetJointPropertiesResponse Response;
+  };
+
+}
+#endif