Gary Servin
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
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: sensor_msgs/JointState.h
- Revision:
- 0:fd24f7ca9688
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/JointState.h Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,216 @@
+#ifndef _ROS_sensor_msgs_JointState_h
+#define _ROS_sensor_msgs_JointState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+ class JointState : public ros::Msg
+ {
+ public:
+ std_msgs::Header header;
+ uint8_t name_length;
+ char* st_name;
+ char* * name;
+ uint8_t position_length;
+ double st_position;
+ double * position;
+ uint8_t velocity_length;
+ double st_velocity;
+ double * velocity;
+ uint8_t effort_length;
+ double st_effort;
+ double * effort;
+
+ JointState():
+ header(),
+ name_length(0), name(NULL),
+ position_length(0), position(NULL),
+ velocity_length(0), velocity(NULL),
+ effort_length(0), effort(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++) = position_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for( uint8_t i = 0; i < position_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_positioni;
+ u_positioni.real = this->position[i];
+ *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->position[i]);
+ }
+ *(outbuffer + offset++) = velocity_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for( uint8_t i = 0; i < velocity_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_velocityi;
+ u_velocityi.real = this->velocity[i];
+ *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->velocity[i]);
+ }
+ *(outbuffer + offset++) = effort_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for( uint8_t i = 0; i < effort_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_efforti;
+ u_efforti.real = this->effort[i];
+ *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->effort[i]);
+ }
+ 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 position_lengthT = *(inbuffer + offset++);
+ if(position_lengthT > position_length)
+ this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
+ offset += 3;
+ position_length = position_lengthT;
+ for( uint8_t i = 0; i < position_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_st_position;
+ u_st_position.base = 0;
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->st_position = u_st_position.real;
+ offset += sizeof(this->st_position);
+ memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
+ }
+ uint8_t velocity_lengthT = *(inbuffer + offset++);
+ if(velocity_lengthT > velocity_length)
+ this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double));
+ offset += 3;
+ velocity_length = velocity_lengthT;
+ for( uint8_t i = 0; i < velocity_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_st_velocity;
+ u_st_velocity.base = 0;
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->st_velocity = u_st_velocity.real;
+ offset += sizeof(this->st_velocity);
+ memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double));
+ }
+ uint8_t effort_lengthT = *(inbuffer + offset++);
+ if(effort_lengthT > effort_length)
+ this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double));
+ offset += 3;
+ effort_length = effort_lengthT;
+ for( uint8_t i = 0; i < effort_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_st_effort;
+ u_st_effort.base = 0;
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->st_effort = u_st_effort.real;
+ offset += sizeof(this->st_effort);
+ memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double));
+ }
+ return offset;
+ }
+
+ const char * getType(){ return "sensor_msgs/JointState"; };
+ const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; };
+
+ };
+
+}
+#endif
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