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: trajectory_msgs/JointTrajectoryPoint.h

Revision:
0:fd24f7ca9688
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/trajectory_msgs/JointTrajectoryPoint.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,249 @@
+#ifndef _ROS_trajectory_msgs_JointTrajectoryPoint_h
+#define _ROS_trajectory_msgs_JointTrajectoryPoint_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+
+namespace trajectory_msgs
+{
+
+  class JointTrajectoryPoint : public ros::Msg
+  {
+    public:
+      uint8_t positions_length;
+      double st_positions;
+      double * positions;
+      uint8_t velocities_length;
+      double st_velocities;
+      double * velocities;
+      uint8_t accelerations_length;
+      double st_accelerations;
+      double * accelerations;
+      uint8_t effort_length;
+      double st_effort;
+      double * effort;
+      ros::Duration time_from_start;
+
+    JointTrajectoryPoint():
+      positions_length(0), positions(NULL),
+      velocities_length(0), velocities(NULL),
+      accelerations_length(0), accelerations(NULL),
+      effort_length(0), effort(NULL),
+      time_from_start()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = positions_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < positions_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_positionsi;
+      u_positionsi.real = this->positions[i];
+      *(outbuffer + offset + 0) = (u_positionsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_positionsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_positionsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_positionsi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_positionsi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_positionsi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_positionsi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_positionsi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->positions[i]);
+      }
+      *(outbuffer + offset++) = velocities_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < velocities_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_velocitiesi;
+      u_velocitiesi.real = this->velocities[i];
+      *(outbuffer + offset + 0) = (u_velocitiesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velocitiesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velocitiesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velocitiesi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_velocitiesi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_velocitiesi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_velocitiesi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_velocitiesi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->velocities[i]);
+      }
+      *(outbuffer + offset++) = accelerations_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < accelerations_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_accelerationsi;
+      u_accelerationsi.real = this->accelerations[i];
+      *(outbuffer + offset + 0) = (u_accelerationsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_accelerationsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_accelerationsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_accelerationsi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_accelerationsi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_accelerationsi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_accelerationsi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_accelerationsi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->accelerations[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]);
+      }
+      *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_from_start.sec);
+      *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_from_start.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t positions_lengthT = *(inbuffer + offset++);
+      if(positions_lengthT > positions_length)
+        this->positions = (double*)realloc(this->positions, positions_lengthT * sizeof(double));
+      offset += 3;
+      positions_length = positions_lengthT;
+      for( uint8_t i = 0; i < positions_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_positions;
+      u_st_positions.base = 0;
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_positions = u_st_positions.real;
+      offset += sizeof(this->st_positions);
+        memcpy( &(this->positions[i]), &(this->st_positions), sizeof(double));
+      }
+      uint8_t velocities_lengthT = *(inbuffer + offset++);
+      if(velocities_lengthT > velocities_length)
+        this->velocities = (double*)realloc(this->velocities, velocities_lengthT * sizeof(double));
+      offset += 3;
+      velocities_length = velocities_lengthT;
+      for( uint8_t i = 0; i < velocities_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_velocities;
+      u_st_velocities.base = 0;
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_velocities = u_st_velocities.real;
+      offset += sizeof(this->st_velocities);
+        memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(double));
+      }
+      uint8_t accelerations_lengthT = *(inbuffer + offset++);
+      if(accelerations_lengthT > accelerations_length)
+        this->accelerations = (double*)realloc(this->accelerations, accelerations_lengthT * sizeof(double));
+      offset += 3;
+      accelerations_length = accelerations_lengthT;
+      for( uint8_t i = 0; i < accelerations_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_accelerations;
+      u_st_accelerations.base = 0;
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_accelerations = u_st_accelerations.real;
+      offset += sizeof(this->st_accelerations);
+        memcpy( &(this->accelerations[i]), &(this->st_accelerations), 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));
+      }
+      this->time_from_start.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_from_start.sec);
+      this->time_from_start.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_from_start.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "trajectory_msgs/JointTrajectoryPoint"; };
+    const char * getMD5(){ return "f3cd1e1c4d320c79d6985c904ae5dcd3"; };
+
+  };
+
+}
+#endif
\ No newline at end of file