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: rosserial_mbed/Adc.h
- Revision:
- 0:fd24f7ca9688
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rosserial_mbed/Adc.h Thu Mar 31 14:22:59 2016 +0000 @@ -0,0 +1,86 @@ +#ifndef _ROS_rosserial_mbed_Adc_h +#define _ROS_rosserial_mbed_Adc_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace rosserial_mbed +{ + + class Adc : public ros::Msg + { + public: + uint16_t adc0; + uint16_t adc1; + uint16_t adc2; + uint16_t adc3; + uint16_t adc4; + uint16_t adc5; + + Adc(): + adc0(0), + adc1(0), + adc2(0), + adc3(0), + adc4(0), + adc5(0) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + *(outbuffer + offset + 0) = (this->adc0 >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->adc0 >> (8 * 1)) & 0xFF; + offset += sizeof(this->adc0); + *(outbuffer + offset + 0) = (this->adc1 >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->adc1 >> (8 * 1)) & 0xFF; + offset += sizeof(this->adc1); + *(outbuffer + offset + 0) = (this->adc2 >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->adc2 >> (8 * 1)) & 0xFF; + offset += sizeof(this->adc2); + *(outbuffer + offset + 0) = (this->adc3 >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->adc3 >> (8 * 1)) & 0xFF; + offset += sizeof(this->adc3); + *(outbuffer + offset + 0) = (this->adc4 >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->adc4 >> (8 * 1)) & 0xFF; + offset += sizeof(this->adc4); + *(outbuffer + offset + 0) = (this->adc5 >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->adc5 >> (8 * 1)) & 0xFF; + offset += sizeof(this->adc5); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + this->adc0 = ((uint16_t) (*(inbuffer + offset))); + this->adc0 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); + offset += sizeof(this->adc0); + this->adc1 = ((uint16_t) (*(inbuffer + offset))); + this->adc1 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); + offset += sizeof(this->adc1); + this->adc2 = ((uint16_t) (*(inbuffer + offset))); + this->adc2 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); + offset += sizeof(this->adc2); + this->adc3 = ((uint16_t) (*(inbuffer + offset))); + this->adc3 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); + offset += sizeof(this->adc3); + this->adc4 = ((uint16_t) (*(inbuffer + offset))); + this->adc4 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); + offset += sizeof(this->adc4); + this->adc5 = ((uint16_t) (*(inbuffer + offset))); + this->adc5 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); + offset += sizeof(this->adc5); + return offset; + } + + const char * getType(){ return "rosserial_mbed/Adc"; }; + const char * getMD5(){ return "6d7853a614e2e821319068311f2af25b"; }; + + }; + +} +#endif \ No newline at end of file