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: geometry_msgs/Inertia.h
- Revision:
- 0:fd24f7ca9688
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/geometry_msgs/Inertia.h Thu Mar 31 14:22:59 2016 +0000 @@ -0,0 +1,260 @@ +#ifndef _ROS_geometry_msgs_Inertia_h +#define _ROS_geometry_msgs_Inertia_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "geometry_msgs/Vector3.h" + +namespace geometry_msgs +{ + + class Inertia : public ros::Msg + { + public: + double m; + geometry_msgs::Vector3 com; + double ixx; + double ixy; + double ixz; + double iyy; + double iyz; + double izz; + + Inertia(): + m(0), + com(), + ixx(0), + ixy(0), + ixz(0), + iyy(0), + iyz(0), + izz(0) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + union { + double real; + uint64_t base; + } u_m; + u_m.real = this->m; + *(outbuffer + offset + 0) = (u_m.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_m.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_m.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_m.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_m.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_m.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_m.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_m.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->m); + offset += this->com.serialize(outbuffer + offset); + union { + double real; + uint64_t base; + } u_ixx; + u_ixx.real = this->ixx; + *(outbuffer + offset + 0) = (u_ixx.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_ixx.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_ixx.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_ixx.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_ixx.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_ixx.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_ixx.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_ixx.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->ixx); + union { + double real; + uint64_t base; + } u_ixy; + u_ixy.real = this->ixy; + *(outbuffer + offset + 0) = (u_ixy.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_ixy.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_ixy.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_ixy.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_ixy.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_ixy.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_ixy.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_ixy.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->ixy); + union { + double real; + uint64_t base; + } u_ixz; + u_ixz.real = this->ixz; + *(outbuffer + offset + 0) = (u_ixz.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_ixz.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_ixz.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_ixz.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_ixz.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_ixz.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_ixz.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_ixz.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->ixz); + union { + double real; + uint64_t base; + } u_iyy; + u_iyy.real = this->iyy; + *(outbuffer + offset + 0) = (u_iyy.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_iyy.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_iyy.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_iyy.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_iyy.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_iyy.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_iyy.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_iyy.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->iyy); + union { + double real; + uint64_t base; + } u_iyz; + u_iyz.real = this->iyz; + *(outbuffer + offset + 0) = (u_iyz.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_iyz.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_iyz.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_iyz.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_iyz.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_iyz.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_iyz.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_iyz.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->iyz); + union { + double real; + uint64_t base; + } u_izz; + u_izz.real = this->izz; + *(outbuffer + offset + 0) = (u_izz.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_izz.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_izz.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_izz.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_izz.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_izz.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_izz.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_izz.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->izz); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + union { + double real; + uint64_t base; + } u_m; + u_m.base = 0; + u_m.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_m.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_m.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_m.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_m.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_m.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_m.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_m.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->m = u_m.real; + offset += sizeof(this->m); + offset += this->com.deserialize(inbuffer + offset); + union { + double real; + uint64_t base; + } u_ixx; + u_ixx.base = 0; + u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->ixx = u_ixx.real; + offset += sizeof(this->ixx); + union { + double real; + uint64_t base; + } u_ixy; + u_ixy.base = 0; + u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->ixy = u_ixy.real; + offset += sizeof(this->ixy); + union { + double real; + uint64_t base; + } u_ixz; + u_ixz.base = 0; + u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->ixz = u_ixz.real; + offset += sizeof(this->ixz); + union { + double real; + uint64_t base; + } u_iyy; + u_iyy.base = 0; + u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->iyy = u_iyy.real; + offset += sizeof(this->iyy); + union { + double real; + uint64_t base; + } u_iyz; + u_iyz.base = 0; + u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->iyz = u_iyz.real; + offset += sizeof(this->iyz); + union { + double real; + uint64_t base; + } u_izz; + u_izz.base = 0; + u_izz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_izz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_izz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_izz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_izz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_izz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_izz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_izz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->izz = u_izz.real; + offset += sizeof(this->izz); + return offset; + } + + const char * getType(){ return "geometry_msgs/Inertia"; }; + const char * getMD5(){ return "1d26e4bb6c83ff141c5cf0d883c2b0fe"; }; + + }; + +} +#endif \ No newline at end of file