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: sensor_msgs/Joy.h

Revision:
0:fd24f7ca9688
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/Joy.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,121 @@
+#ifndef _ROS_sensor_msgs_Joy_h
+#define _ROS_sensor_msgs_Joy_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class Joy : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t axes_length;
+      float st_axes;
+      float * axes;
+      uint8_t buttons_length;
+      int32_t st_buttons;
+      int32_t * buttons;
+
+    Joy():
+      header(),
+      axes_length(0), axes(NULL),
+      buttons_length(0), buttons(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = axes_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < axes_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_axesi;
+      u_axesi.real = this->axes[i];
+      *(outbuffer + offset + 0) = (u_axesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_axesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_axesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_axesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->axes[i]);
+      }
+      *(outbuffer + offset++) = buttons_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < buttons_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_buttonsi;
+      u_buttonsi.real = this->buttons[i];
+      *(outbuffer + offset + 0) = (u_buttonsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_buttonsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_buttonsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_buttonsi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->buttons[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t axes_lengthT = *(inbuffer + offset++);
+      if(axes_lengthT > axes_length)
+        this->axes = (float*)realloc(this->axes, axes_lengthT * sizeof(float));
+      offset += 3;
+      axes_length = axes_lengthT;
+      for( uint8_t i = 0; i < axes_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_axes;
+      u_st_axes.base = 0;
+      u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_axes = u_st_axes.real;
+      offset += sizeof(this->st_axes);
+        memcpy( &(this->axes[i]), &(this->st_axes), sizeof(float));
+      }
+      uint8_t buttons_lengthT = *(inbuffer + offset++);
+      if(buttons_lengthT > buttons_length)
+        this->buttons = (int32_t*)realloc(this->buttons, buttons_lengthT * sizeof(int32_t));
+      offset += 3;
+      buttons_length = buttons_lengthT;
+      for( uint8_t i = 0; i < buttons_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_st_buttons;
+      u_st_buttons.base = 0;
+      u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_buttons = u_st_buttons.real;
+      offset += sizeof(this->st_buttons);
+        memcpy( &(this->buttons[i]), &(this->st_buttons), sizeof(int32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/Joy"; };
+    const char * getMD5(){ return "5a9ea5f83505693b71e785041e67a8bb"; };
+
+  };
+
+}
+#endif
\ No newline at end of file