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/MultiEchoLaserScan.h

Revision:
0:fd24f7ca9688
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/MultiEchoLaserScan.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,245 @@
+#ifndef _ROS_sensor_msgs_MultiEchoLaserScan_h
+#define _ROS_sensor_msgs_MultiEchoLaserScan_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/LaserEcho.h"
+
+namespace sensor_msgs
+{
+
+  class MultiEchoLaserScan : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      float angle_min;
+      float angle_max;
+      float angle_increment;
+      float time_increment;
+      float scan_time;
+      float range_min;
+      float range_max;
+      uint8_t ranges_length;
+      sensor_msgs::LaserEcho st_ranges;
+      sensor_msgs::LaserEcho * ranges;
+      uint8_t intensities_length;
+      sensor_msgs::LaserEcho st_intensities;
+      sensor_msgs::LaserEcho * intensities;
+
+    MultiEchoLaserScan():
+      header(),
+      angle_min(0),
+      angle_max(0),
+      angle_increment(0),
+      time_increment(0),
+      scan_time(0),
+      range_min(0),
+      range_max(0),
+      ranges_length(0), ranges(NULL),
+      intensities_length(0), intensities(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_min;
+      u_angle_min.real = this->angle_min;
+      *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_max;
+      u_angle_max.real = this->angle_max;
+      *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_max);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_increment;
+      u_angle_increment.real = this->angle_increment;
+      *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_time_increment;
+      u_time_increment.real = this->time_increment;
+      *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_scan_time;
+      u_scan_time.real = this->scan_time;
+      *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->scan_time);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_min;
+      u_range_min.real = this->range_min;
+      *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->range_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_max;
+      u_range_max.real = this->range_max;
+      *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->range_max);
+      *(outbuffer + offset++) = ranges_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < ranges_length; i++){
+      offset += this->ranges[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = intensities_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < intensities_length; i++){
+      offset += this->intensities[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_min;
+      u_angle_min.base = 0;
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_min = u_angle_min.real;
+      offset += sizeof(this->angle_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_max;
+      u_angle_max.base = 0;
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_max = u_angle_max.real;
+      offset += sizeof(this->angle_max);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_increment;
+      u_angle_increment.base = 0;
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_increment = u_angle_increment.real;
+      offset += sizeof(this->angle_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_time_increment;
+      u_time_increment.base = 0;
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->time_increment = u_time_increment.real;
+      offset += sizeof(this->time_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_scan_time;
+      u_scan_time.base = 0;
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->scan_time = u_scan_time.real;
+      offset += sizeof(this->scan_time);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_min;
+      u_range_min.base = 0;
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->range_min = u_range_min.real;
+      offset += sizeof(this->range_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_max;
+      u_range_max.base = 0;
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->range_max = u_range_max.real;
+      offset += sizeof(this->range_max);
+      uint8_t ranges_lengthT = *(inbuffer + offset++);
+      if(ranges_lengthT > ranges_length)
+        this->ranges = (sensor_msgs::LaserEcho*)realloc(this->ranges, ranges_lengthT * sizeof(sensor_msgs::LaserEcho));
+      offset += 3;
+      ranges_length = ranges_lengthT;
+      for( uint8_t i = 0; i < ranges_length; i++){
+      offset += this->st_ranges.deserialize(inbuffer + offset);
+        memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(sensor_msgs::LaserEcho));
+      }
+      uint8_t intensities_lengthT = *(inbuffer + offset++);
+      if(intensities_lengthT > intensities_length)
+        this->intensities = (sensor_msgs::LaserEcho*)realloc(this->intensities, intensities_lengthT * sizeof(sensor_msgs::LaserEcho));
+      offset += 3;
+      intensities_length = intensities_lengthT;
+      for( uint8_t i = 0; i < intensities_length; i++){
+      offset += this->st_intensities.deserialize(inbuffer + offset);
+        memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(sensor_msgs::LaserEcho));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/MultiEchoLaserScan"; };
+    const char * getMD5(){ return "6fefb0c6da89d7c8abe4b339f5c2f8fb"; };
+
+  };
+
+}
+#endif
\ No newline at end of file