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: rosgraph_msgs/TopicStatistics.h

Revision:
0:fd24f7ca9688
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rosgraph_msgs/TopicStatistics.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,333 @@
+#ifndef _ROS_rosgraph_msgs_TopicStatistics_h
+#define _ROS_rosgraph_msgs_TopicStatistics_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+#include "ros/duration.h"
+
+namespace rosgraph_msgs
+{
+
+  class TopicStatistics : public ros::Msg
+  {
+    public:
+      const char* topic;
+      const char* node_pub;
+      const char* node_sub;
+      ros::Time window_start;
+      ros::Time window_stop;
+      int32_t delivered_msgs;
+      int32_t dropped_msgs;
+      int32_t traffic;
+      ros::Duration period_mean;
+      ros::Duration period_stddev;
+      ros::Duration period_max;
+      ros::Duration stamp_age_mean;
+      ros::Duration stamp_age_stddev;
+      ros::Duration stamp_age_max;
+
+    TopicStatistics():
+      topic(""),
+      node_pub(""),
+      node_sub(""),
+      window_start(),
+      window_stop(),
+      delivered_msgs(0),
+      dropped_msgs(0),
+      traffic(0),
+      period_mean(),
+      period_stddev(),
+      period_max(),
+      stamp_age_mean(),
+      stamp_age_stddev(),
+      stamp_age_max()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      memcpy(outbuffer + offset, &length_topic, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      uint32_t length_node_pub = strlen(this->node_pub);
+      memcpy(outbuffer + offset, &length_node_pub, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->node_pub, length_node_pub);
+      offset += length_node_pub;
+      uint32_t length_node_sub = strlen(this->node_sub);
+      memcpy(outbuffer + offset, &length_node_sub, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->node_sub, length_node_sub);
+      offset += length_node_sub;
+      *(outbuffer + offset + 0) = (this->window_start.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->window_start.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->window_start.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->window_start.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->window_start.sec);
+      *(outbuffer + offset + 0) = (this->window_start.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->window_start.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->window_start.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->window_start.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->window_start.nsec);
+      *(outbuffer + offset + 0) = (this->window_stop.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->window_stop.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->window_stop.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->window_stop.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->window_stop.sec);
+      *(outbuffer + offset + 0) = (this->window_stop.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->window_stop.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->window_stop.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->window_stop.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->window_stop.nsec);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_delivered_msgs;
+      u_delivered_msgs.real = this->delivered_msgs;
+      *(outbuffer + offset + 0) = (u_delivered_msgs.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_delivered_msgs.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_delivered_msgs.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_delivered_msgs.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->delivered_msgs);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_dropped_msgs;
+      u_dropped_msgs.real = this->dropped_msgs;
+      *(outbuffer + offset + 0) = (u_dropped_msgs.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dropped_msgs.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dropped_msgs.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dropped_msgs.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->dropped_msgs);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_traffic;
+      u_traffic.real = this->traffic;
+      *(outbuffer + offset + 0) = (u_traffic.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_traffic.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_traffic.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_traffic.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->traffic);
+      *(outbuffer + offset + 0) = (this->period_mean.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_mean.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_mean.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_mean.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_mean.sec);
+      *(outbuffer + offset + 0) = (this->period_mean.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_mean.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_mean.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_mean.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_mean.nsec);
+      *(outbuffer + offset + 0) = (this->period_stddev.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_stddev.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_stddev.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_stddev.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_stddev.sec);
+      *(outbuffer + offset + 0) = (this->period_stddev.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_stddev.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_stddev.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_stddev.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_stddev.nsec);
+      *(outbuffer + offset + 0) = (this->period_max.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_max.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_max.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_max.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_max.sec);
+      *(outbuffer + offset + 0) = (this->period_max.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_max.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_max.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_max.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_max.nsec);
+      *(outbuffer + offset + 0) = (this->stamp_age_mean.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_mean.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_mean.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_mean.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_mean.sec);
+      *(outbuffer + offset + 0) = (this->stamp_age_mean.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_mean.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_mean.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_mean.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_mean.nsec);
+      *(outbuffer + offset + 0) = (this->stamp_age_stddev.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_stddev.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_stddev.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_stddev.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_stddev.sec);
+      *(outbuffer + offset + 0) = (this->stamp_age_stddev.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_stddev.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_stddev.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_stddev.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_stddev.nsec);
+      *(outbuffer + offset + 0) = (this->stamp_age_max.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_max.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_max.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_max.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_max.sec);
+      *(outbuffer + offset + 0) = (this->stamp_age_max.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_max.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_max.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_max.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_max.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      memcpy(&length_topic, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+      uint32_t length_node_pub;
+      memcpy(&length_node_pub, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_node_pub; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_node_pub-1]=0;
+      this->node_pub = (char *)(inbuffer + offset-1);
+      offset += length_node_pub;
+      uint32_t length_node_sub;
+      memcpy(&length_node_sub, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_node_sub; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_node_sub-1]=0;
+      this->node_sub = (char *)(inbuffer + offset-1);
+      offset += length_node_sub;
+      this->window_start.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->window_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->window_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->window_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->window_start.sec);
+      this->window_start.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->window_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->window_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->window_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->window_start.nsec);
+      this->window_stop.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->window_stop.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->window_stop.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->window_stop.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->window_stop.sec);
+      this->window_stop.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->window_stop.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->window_stop.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->window_stop.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->window_stop.nsec);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_delivered_msgs;
+      u_delivered_msgs.base = 0;
+      u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->delivered_msgs = u_delivered_msgs.real;
+      offset += sizeof(this->delivered_msgs);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_dropped_msgs;
+      u_dropped_msgs.base = 0;
+      u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->dropped_msgs = u_dropped_msgs.real;
+      offset += sizeof(this->dropped_msgs);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_traffic;
+      u_traffic.base = 0;
+      u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->traffic = u_traffic.real;
+      offset += sizeof(this->traffic);
+      this->period_mean.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_mean.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_mean.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_mean.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_mean.sec);
+      this->period_mean.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_mean.nsec);
+      this->period_stddev.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_stddev.sec);
+      this->period_stddev.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_stddev.nsec);
+      this->period_max.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_max.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_max.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_max.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_max.sec);
+      this->period_max.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_max.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_max.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_max.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_max.nsec);
+      this->stamp_age_mean.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_mean.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_mean.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_mean.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_mean.sec);
+      this->stamp_age_mean.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_mean.nsec);
+      this->stamp_age_stddev.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_stddev.sec);
+      this->stamp_age_stddev.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_stddev.nsec);
+      this->stamp_age_max.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_max.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_max.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_max.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_max.sec);
+      this->stamp_age_max.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_max.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_max.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_max.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_max.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "rosgraph_msgs/TopicStatistics"; };
+    const char * getMD5(){ return "10152ed868c5097a5e2e4a89d7daa710"; };
+
+  };
+
+}
+#endif
\ No newline at end of file