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: smach_msgs/SmachContainerStatus.h

Revision:
0:fd24f7ca9688
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/smach_msgs/SmachContainerStatus.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,155 @@
+#ifndef _ROS_smach_msgs_SmachContainerStatus_h
+#define _ROS_smach_msgs_SmachContainerStatus_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace smach_msgs
+{
+
+  class SmachContainerStatus : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      const char* path;
+      uint8_t initial_states_length;
+      char* st_initial_states;
+      char* * initial_states;
+      uint8_t active_states_length;
+      char* st_active_states;
+      char* * active_states;
+      const char* local_data;
+      const char* info;
+
+    SmachContainerStatus():
+      header(),
+      path(""),
+      initial_states_length(0), initial_states(NULL),
+      active_states_length(0), active_states(NULL),
+      local_data(""),
+      info("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_path = strlen(this->path);
+      memcpy(outbuffer + offset, &length_path, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->path, length_path);
+      offset += length_path;
+      *(outbuffer + offset++) = initial_states_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < initial_states_length; i++){
+      uint32_t length_initial_statesi = strlen(this->initial_states[i]);
+      memcpy(outbuffer + offset, &length_initial_statesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->initial_states[i], length_initial_statesi);
+      offset += length_initial_statesi;
+      }
+      *(outbuffer + offset++) = active_states_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < active_states_length; i++){
+      uint32_t length_active_statesi = strlen(this->active_states[i]);
+      memcpy(outbuffer + offset, &length_active_statesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->active_states[i], length_active_statesi);
+      offset += length_active_statesi;
+      }
+      uint32_t length_local_data = strlen(this->local_data);
+      memcpy(outbuffer + offset, &length_local_data, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->local_data, length_local_data);
+      offset += length_local_data;
+      uint32_t length_info = strlen(this->info);
+      memcpy(outbuffer + offset, &length_info, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->info, length_info);
+      offset += length_info;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_path;
+      memcpy(&length_path, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_path; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_path-1]=0;
+      this->path = (char *)(inbuffer + offset-1);
+      offset += length_path;
+      uint8_t initial_states_lengthT = *(inbuffer + offset++);
+      if(initial_states_lengthT > initial_states_length)
+        this->initial_states = (char**)realloc(this->initial_states, initial_states_lengthT * sizeof(char*));
+      offset += 3;
+      initial_states_length = initial_states_lengthT;
+      for( uint8_t i = 0; i < initial_states_length; i++){
+      uint32_t length_st_initial_states;
+      memcpy(&length_st_initial_states, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_initial_states; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_initial_states-1]=0;
+      this->st_initial_states = (char *)(inbuffer + offset-1);
+      offset += length_st_initial_states;
+        memcpy( &(this->initial_states[i]), &(this->st_initial_states), sizeof(char*));
+      }
+      uint8_t active_states_lengthT = *(inbuffer + offset++);
+      if(active_states_lengthT > active_states_length)
+        this->active_states = (char**)realloc(this->active_states, active_states_lengthT * sizeof(char*));
+      offset += 3;
+      active_states_length = active_states_lengthT;
+      for( uint8_t i = 0; i < active_states_length; i++){
+      uint32_t length_st_active_states;
+      memcpy(&length_st_active_states, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_active_states; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_active_states-1]=0;
+      this->st_active_states = (char *)(inbuffer + offset-1);
+      offset += length_st_active_states;
+        memcpy( &(this->active_states[i]), &(this->st_active_states), sizeof(char*));
+      }
+      uint32_t length_local_data;
+      memcpy(&length_local_data, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_local_data; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_local_data-1]=0;
+      this->local_data = (char *)(inbuffer + offset-1);
+      offset += length_local_data;
+      uint32_t length_info;
+      memcpy(&length_info, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_info; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_info-1]=0;
+      this->info = (char *)(inbuffer + offset-1);
+      offset += length_info;
+     return offset;
+    }
+
+    const char * getType(){ return "smach_msgs/SmachContainerStatus"; };
+    const char * getMD5(){ return "5ba2bb79ac19e3842d562a191f2a675b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file