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: 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