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_msgs/RequestMessageInfo.h
- Revision:
- 0:fd24f7ca9688
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rosserial_msgs/RequestMessageInfo.h Thu Mar 31 14:22:59 2016 +0000 @@ -0,0 +1,118 @@ +#ifndef _ROS_SERVICE_RequestMessageInfo_h +#define _ROS_SERVICE_RequestMessageInfo_h +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace rosserial_msgs +{ + +static const char REQUESTMESSAGEINFO[] = "rosserial_msgs/RequestMessageInfo"; + + class RequestMessageInfoRequest : public ros::Msg + { + public: + const char* type; + + RequestMessageInfoRequest(): + type("") + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + uint32_t length_type = strlen(this->type); + memcpy(outbuffer + offset, &length_type, sizeof(uint32_t)); + offset += 4; + memcpy(outbuffer + offset, this->type, length_type); + offset += length_type; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_type; + memcpy(&length_type, (inbuffer + offset), sizeof(uint32_t)); + offset += 4; + for(unsigned int k= offset; k< offset+length_type; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_type-1]=0; + this->type = (char *)(inbuffer + offset-1); + offset += length_type; + return offset; + } + + const char * getType(){ return REQUESTMESSAGEINFO; }; + const char * getMD5(){ return "dc67331de85cf97091b7d45e5c64ab75"; }; + + }; + + class RequestMessageInfoResponse : public ros::Msg + { + public: + const char* md5; + const char* definition; + + RequestMessageInfoResponse(): + md5(""), + definition("") + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + uint32_t length_md5 = strlen(this->md5); + memcpy(outbuffer + offset, &length_md5, sizeof(uint32_t)); + offset += 4; + memcpy(outbuffer + offset, this->md5, length_md5); + offset += length_md5; + uint32_t length_definition = strlen(this->definition); + memcpy(outbuffer + offset, &length_definition, sizeof(uint32_t)); + offset += 4; + memcpy(outbuffer + offset, this->definition, length_definition); + offset += length_definition; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_md5; + memcpy(&length_md5, (inbuffer + offset), sizeof(uint32_t)); + offset += 4; + for(unsigned int k= offset; k< offset+length_md5; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_md5-1]=0; + this->md5 = (char *)(inbuffer + offset-1); + offset += length_md5; + uint32_t length_definition; + memcpy(&length_definition, (inbuffer + offset), sizeof(uint32_t)); + offset += 4; + for(unsigned int k= offset; k< offset+length_definition; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_definition-1]=0; + this->definition = (char *)(inbuffer + offset-1); + offset += length_definition; + return offset; + } + + const char * getType(){ return REQUESTMESSAGEINFO; }; + const char * getMD5(){ return "fe452186a069bed40f09b8628fe5eac8"; }; + + }; + + class RequestMessageInfo { + public: + typedef RequestMessageInfoRequest Request; + typedef RequestMessageInfoResponse Response; + }; + +} +#endif