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/PointField.h
- Revision:
- 0:fd24f7ca9688
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/PointField.h Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,92 @@
+#ifndef _ROS_sensor_msgs_PointField_h
+#define _ROS_sensor_msgs_PointField_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+ class PointField : public ros::Msg
+ {
+ public:
+ const char* name;
+ uint32_t offset;
+ uint8_t datatype;
+ uint32_t count;
+ enum { INT8 = 1 };
+ enum { UINT8 = 2 };
+ enum { INT16 = 3 };
+ enum { UINT16 = 4 };
+ enum { INT32 = 5 };
+ enum { UINT32 = 6 };
+ enum { FLOAT32 = 7 };
+ enum { FLOAT64 = 8 };
+
+ PointField():
+ name(""),
+ offset(0),
+ datatype(0),
+ count(0)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ uint32_t length_name = strlen(this->name);
+ memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+ offset += 4;
+ memcpy(outbuffer + offset, this->name, length_name);
+ offset += length_name;
+ *(outbuffer + offset + 0) = (this->offset >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->offset >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->offset >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->offset >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->offset);
+ *(outbuffer + offset + 0) = (this->datatype >> (8 * 0)) & 0xFF;
+ offset += sizeof(this->datatype);
+ *(outbuffer + offset + 0) = (this->count >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->count >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->count >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->count >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->count);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ uint32_t length_name;
+ memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+ offset += 4;
+ for(unsigned int k= offset; k< offset+length_name; ++k){
+ inbuffer[k-1]=inbuffer[k];
+ }
+ inbuffer[offset+length_name-1]=0;
+ this->name = (char *)(inbuffer + offset-1);
+ offset += length_name;
+ this->offset = ((uint32_t) (*(inbuffer + offset)));
+ this->offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->offset);
+ this->datatype = ((uint8_t) (*(inbuffer + offset)));
+ offset += sizeof(this->datatype);
+ this->count = ((uint32_t) (*(inbuffer + offset)));
+ this->count |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->count |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->count |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->count);
+ return offset;
+ }
+
+ const char * getType(){ return "sensor_msgs/PointField"; };
+ const char * getMD5(){ return "268eacb2962780ceac86cbd17e328150"; };
+
+ };
+
+}
+#endif
\ No newline at end of file