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
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: visualization_msgs/InteractiveMarkerFeedback.h
- Revision:
- 0:fd24f7ca9688
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/visualization_msgs/InteractiveMarkerFeedback.h Thu Mar 31 14:22:59 2016 +0000 @@ -0,0 +1,142 @@ +#ifndef _ROS_visualization_msgs_InteractiveMarkerFeedback_h +#define _ROS_visualization_msgs_InteractiveMarkerFeedback_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" +#include "geometry_msgs/Pose.h" +#include "geometry_msgs/Point.h" + +namespace visualization_msgs +{ + + class InteractiveMarkerFeedback : public ros::Msg + { + public: + std_msgs::Header header; + const char* client_id; + const char* marker_name; + const char* control_name; + uint8_t event_type; + geometry_msgs::Pose pose; + uint32_t menu_entry_id; + geometry_msgs::Point mouse_point; + bool mouse_point_valid; + enum { KEEP_ALIVE = 0 }; + enum { POSE_UPDATE = 1 }; + enum { MENU_SELECT = 2 }; + enum { BUTTON_CLICK = 3 }; + enum { MOUSE_DOWN = 4 }; + enum { MOUSE_UP = 5 }; + + InteractiveMarkerFeedback(): + header(), + client_id(""), + marker_name(""), + control_name(""), + event_type(0), + pose(), + menu_entry_id(0), + mouse_point(), + mouse_point_valid(0) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + uint32_t length_client_id = strlen(this->client_id); + memcpy(outbuffer + offset, &length_client_id, sizeof(uint32_t)); + offset += 4; + memcpy(outbuffer + offset, this->client_id, length_client_id); + offset += length_client_id; + uint32_t length_marker_name = strlen(this->marker_name); + memcpy(outbuffer + offset, &length_marker_name, sizeof(uint32_t)); + offset += 4; + memcpy(outbuffer + offset, this->marker_name, length_marker_name); + offset += length_marker_name; + uint32_t length_control_name = strlen(this->control_name); + memcpy(outbuffer + offset, &length_control_name, sizeof(uint32_t)); + offset += 4; + memcpy(outbuffer + offset, this->control_name, length_control_name); + offset += length_control_name; + *(outbuffer + offset + 0) = (this->event_type >> (8 * 0)) & 0xFF; + offset += sizeof(this->event_type); + offset += this->pose.serialize(outbuffer + offset); + *(outbuffer + offset + 0) = (this->menu_entry_id >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->menu_entry_id >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->menu_entry_id >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->menu_entry_id >> (8 * 3)) & 0xFF; + offset += sizeof(this->menu_entry_id); + offset += this->mouse_point.serialize(outbuffer + offset); + union { + bool real; + uint8_t base; + } u_mouse_point_valid; + u_mouse_point_valid.real = this->mouse_point_valid; + *(outbuffer + offset + 0) = (u_mouse_point_valid.base >> (8 * 0)) & 0xFF; + offset += sizeof(this->mouse_point_valid); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + uint32_t length_client_id; + memcpy(&length_client_id, (inbuffer + offset), sizeof(uint32_t)); + offset += 4; + for(unsigned int k= offset; k< offset+length_client_id; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_client_id-1]=0; + this->client_id = (char *)(inbuffer + offset-1); + offset += length_client_id; + uint32_t length_marker_name; + memcpy(&length_marker_name, (inbuffer + offset), sizeof(uint32_t)); + offset += 4; + for(unsigned int k= offset; k< offset+length_marker_name; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_marker_name-1]=0; + this->marker_name = (char *)(inbuffer + offset-1); + offset += length_marker_name; + uint32_t length_control_name; + memcpy(&length_control_name, (inbuffer + offset), sizeof(uint32_t)); + offset += 4; + for(unsigned int k= offset; k< offset+length_control_name; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_control_name-1]=0; + this->control_name = (char *)(inbuffer + offset-1); + offset += length_control_name; + this->event_type = ((uint8_t) (*(inbuffer + offset))); + offset += sizeof(this->event_type); + offset += this->pose.deserialize(inbuffer + offset); + this->menu_entry_id = ((uint32_t) (*(inbuffer + offset))); + this->menu_entry_id |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->menu_entry_id |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->menu_entry_id |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->menu_entry_id); + offset += this->mouse_point.deserialize(inbuffer + offset); + union { + bool real; + uint8_t base; + } u_mouse_point_valid; + u_mouse_point_valid.base = 0; + u_mouse_point_valid.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->mouse_point_valid = u_mouse_point_valid.real; + offset += sizeof(this->mouse_point_valid); + return offset; + } + + const char * getType(){ return "visualization_msgs/InteractiveMarkerFeedback"; }; + const char * getMD5(){ return "ab0f1eee058667e28c19ff3ffc3f4b78"; }; + + }; + +} +#endif \ No newline at end of file