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/WorldState.h

Revision:
0:fd24f7ca9688
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/WorldState.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,138 @@
+#ifndef _ROS_gazebo_msgs_WorldState_h
+#define _ROS_gazebo_msgs_WorldState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Twist.h"
+#include "geometry_msgs/Wrench.h"
+
+namespace gazebo_msgs
+{
+
+  class WorldState : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t name_length;
+      char* st_name;
+      char* * name;
+      uint8_t pose_length;
+      geometry_msgs::Pose st_pose;
+      geometry_msgs::Pose * pose;
+      uint8_t twist_length;
+      geometry_msgs::Twist st_twist;
+      geometry_msgs::Twist * twist;
+      uint8_t wrench_length;
+      geometry_msgs::Wrench st_wrench;
+      geometry_msgs::Wrench * wrench;
+
+    WorldState():
+      header(),
+      name_length(0), name(NULL),
+      pose_length(0), pose(NULL),
+      twist_length(0), twist(NULL),
+      wrench_length(0), wrench(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = name_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_namei = strlen(this->name[i]);
+      memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], length_namei);
+      offset += length_namei;
+      }
+      *(outbuffer + offset++) = pose_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < pose_length; i++){
+      offset += this->pose[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = twist_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < twist_length; i++){
+      offset += this->twist[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = wrench_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < wrench_length; i++){
+      offset += this->wrench[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t name_lengthT = *(inbuffer + offset++);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      offset += 3;
+      name_length = name_lengthT;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_st_name;
+      memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      uint8_t pose_lengthT = *(inbuffer + offset++);
+      if(pose_lengthT > pose_length)
+        this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
+      offset += 3;
+      pose_length = pose_lengthT;
+      for( uint8_t i = 0; i < pose_length; i++){
+      offset += this->st_pose.deserialize(inbuffer + offset);
+        memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
+      }
+      uint8_t twist_lengthT = *(inbuffer + offset++);
+      if(twist_lengthT > twist_length)
+        this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
+      offset += 3;
+      twist_length = twist_lengthT;
+      for( uint8_t i = 0; i < twist_length; i++){
+      offset += this->st_twist.deserialize(inbuffer + offset);
+        memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
+      }
+      uint8_t wrench_lengthT = *(inbuffer + offset++);
+      if(wrench_lengthT > wrench_length)
+        this->wrench = (geometry_msgs::Wrench*)realloc(this->wrench, wrench_lengthT * sizeof(geometry_msgs::Wrench));
+      offset += 3;
+      wrench_length = wrench_lengthT;
+      for( uint8_t i = 0; i < wrench_length; i++){
+      offset += this->st_wrench.deserialize(inbuffer + offset);
+        memcpy( &(this->wrench[i]), &(this->st_wrench), sizeof(geometry_msgs::Wrench));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/WorldState"; };
+    const char * getMD5(){ return "de1a9de3ab7ba97ac0e9ec01a4eb481e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file