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: visualization_msgs/Marker.h
- Revision:
- 0:fd24f7ca9688
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/visualization_msgs/Marker.h Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,288 @@
+#ifndef _ROS_visualization_msgs_Marker_h
+#define _ROS_visualization_msgs_Marker_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/Vector3.h"
+#include "std_msgs/ColorRGBA.h"
+#include "ros/duration.h"
+#include "geometry_msgs/Point.h"
+
+namespace visualization_msgs
+{
+
+ class Marker : public ros::Msg
+ {
+ public:
+ std_msgs::Header header;
+ const char* ns;
+ int32_t id;
+ int32_t type;
+ int32_t action;
+ geometry_msgs::Pose pose;
+ geometry_msgs::Vector3 scale;
+ std_msgs::ColorRGBA color;
+ ros::Duration lifetime;
+ bool frame_locked;
+ uint8_t points_length;
+ geometry_msgs::Point st_points;
+ geometry_msgs::Point * points;
+ uint8_t colors_length;
+ std_msgs::ColorRGBA st_colors;
+ std_msgs::ColorRGBA * colors;
+ const char* text;
+ const char* mesh_resource;
+ bool mesh_use_embedded_materials;
+ enum { ARROW = 0 };
+ enum { CUBE = 1 };
+ enum { SPHERE = 2 };
+ enum { CYLINDER = 3 };
+ enum { LINE_STRIP = 4 };
+ enum { LINE_LIST = 5 };
+ enum { CUBE_LIST = 6 };
+ enum { SPHERE_LIST = 7 };
+ enum { POINTS = 8 };
+ enum { TEXT_VIEW_FACING = 9 };
+ enum { MESH_RESOURCE = 10 };
+ enum { TRIANGLE_LIST = 11 };
+ enum { ADD = 0 };
+ enum { MODIFY = 0 };
+ enum { DELETE = 2 };
+
+ Marker():
+ header(),
+ ns(""),
+ id(0),
+ type(0),
+ action(0),
+ pose(),
+ scale(),
+ color(),
+ lifetime(),
+ frame_locked(0),
+ points_length(0), points(NULL),
+ colors_length(0), colors(NULL),
+ text(""),
+ mesh_resource(""),
+ mesh_use_embedded_materials(0)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ offset += this->header.serialize(outbuffer + offset);
+ uint32_t length_ns = strlen(this->ns);
+ memcpy(outbuffer + offset, &length_ns, sizeof(uint32_t));
+ offset += 4;
+ memcpy(outbuffer + offset, this->ns, length_ns);
+ offset += length_ns;
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_id;
+ u_id.real = this->id;
+ *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->id);
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_type;
+ u_type.real = this->type;
+ *(outbuffer + offset + 0) = (u_type.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_type.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_type.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_type.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->type);
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_action;
+ u_action.real = this->action;
+ *(outbuffer + offset + 0) = (u_action.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_action.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_action.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_action.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->action);
+ offset += this->pose.serialize(outbuffer + offset);
+ offset += this->scale.serialize(outbuffer + offset);
+ offset += this->color.serialize(outbuffer + offset);
+ *(outbuffer + offset + 0) = (this->lifetime.sec >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->lifetime.sec >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->lifetime.sec >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->lifetime.sec >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->lifetime.sec);
+ *(outbuffer + offset + 0) = (this->lifetime.nsec >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->lifetime.nsec >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->lifetime.nsec >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->lifetime.nsec >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->lifetime.nsec);
+ union {
+ bool real;
+ uint8_t base;
+ } u_frame_locked;
+ u_frame_locked.real = this->frame_locked;
+ *(outbuffer + offset + 0) = (u_frame_locked.base >> (8 * 0)) & 0xFF;
+ offset += sizeof(this->frame_locked);
+ *(outbuffer + offset++) = points_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for( uint8_t i = 0; i < points_length; i++){
+ offset += this->points[i].serialize(outbuffer + offset);
+ }
+ *(outbuffer + offset++) = colors_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for( uint8_t i = 0; i < colors_length; i++){
+ offset += this->colors[i].serialize(outbuffer + offset);
+ }
+ uint32_t length_text = strlen(this->text);
+ memcpy(outbuffer + offset, &length_text, sizeof(uint32_t));
+ offset += 4;
+ memcpy(outbuffer + offset, this->text, length_text);
+ offset += length_text;
+ uint32_t length_mesh_resource = strlen(this->mesh_resource);
+ memcpy(outbuffer + offset, &length_mesh_resource, sizeof(uint32_t));
+ offset += 4;
+ memcpy(outbuffer + offset, this->mesh_resource, length_mesh_resource);
+ offset += length_mesh_resource;
+ union {
+ bool real;
+ uint8_t base;
+ } u_mesh_use_embedded_materials;
+ u_mesh_use_embedded_materials.real = this->mesh_use_embedded_materials;
+ *(outbuffer + offset + 0) = (u_mesh_use_embedded_materials.base >> (8 * 0)) & 0xFF;
+ offset += sizeof(this->mesh_use_embedded_materials);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ offset += this->header.deserialize(inbuffer + offset);
+ uint32_t length_ns;
+ memcpy(&length_ns, (inbuffer + offset), sizeof(uint32_t));
+ offset += 4;
+ for(unsigned int k= offset; k< offset+length_ns; ++k){
+ inbuffer[k-1]=inbuffer[k];
+ }
+ inbuffer[offset+length_ns-1]=0;
+ this->ns = (char *)(inbuffer + offset-1);
+ offset += length_ns;
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_id;
+ u_id.base = 0;
+ u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->id = u_id.real;
+ offset += sizeof(this->id);
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_type;
+ u_type.base = 0;
+ u_type.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_type.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_type.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_type.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->type = u_type.real;
+ offset += sizeof(this->type);
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_action;
+ u_action.base = 0;
+ u_action.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_action.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_action.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_action.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->action = u_action.real;
+ offset += sizeof(this->action);
+ offset += this->pose.deserialize(inbuffer + offset);
+ offset += this->scale.deserialize(inbuffer + offset);
+ offset += this->color.deserialize(inbuffer + offset);
+ this->lifetime.sec = ((uint32_t) (*(inbuffer + offset)));
+ this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->lifetime.sec);
+ this->lifetime.nsec = ((uint32_t) (*(inbuffer + offset)));
+ this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->lifetime.nsec);
+ union {
+ bool real;
+ uint8_t base;
+ } u_frame_locked;
+ u_frame_locked.base = 0;
+ u_frame_locked.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ this->frame_locked = u_frame_locked.real;
+ offset += sizeof(this->frame_locked);
+ uint8_t points_lengthT = *(inbuffer + offset++);
+ if(points_lengthT > points_length)
+ this->points = (geometry_msgs::Point*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point));
+ offset += 3;
+ points_length = points_lengthT;
+ for( uint8_t i = 0; i < points_length; i++){
+ offset += this->st_points.deserialize(inbuffer + offset);
+ memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point));
+ }
+ uint8_t colors_lengthT = *(inbuffer + offset++);
+ if(colors_lengthT > colors_length)
+ this->colors = (std_msgs::ColorRGBA*)realloc(this->colors, colors_lengthT * sizeof(std_msgs::ColorRGBA));
+ offset += 3;
+ colors_length = colors_lengthT;
+ for( uint8_t i = 0; i < colors_length; i++){
+ offset += this->st_colors.deserialize(inbuffer + offset);
+ memcpy( &(this->colors[i]), &(this->st_colors), sizeof(std_msgs::ColorRGBA));
+ }
+ uint32_t length_text;
+ memcpy(&length_text, (inbuffer + offset), sizeof(uint32_t));
+ offset += 4;
+ for(unsigned int k= offset; k< offset+length_text; ++k){
+ inbuffer[k-1]=inbuffer[k];
+ }
+ inbuffer[offset+length_text-1]=0;
+ this->text = (char *)(inbuffer + offset-1);
+ offset += length_text;
+ uint32_t length_mesh_resource;
+ memcpy(&length_mesh_resource, (inbuffer + offset), sizeof(uint32_t));
+ offset += 4;
+ for(unsigned int k= offset; k< offset+length_mesh_resource; ++k){
+ inbuffer[k-1]=inbuffer[k];
+ }
+ inbuffer[offset+length_mesh_resource-1]=0;
+ this->mesh_resource = (char *)(inbuffer + offset-1);
+ offset += length_mesh_resource;
+ union {
+ bool real;
+ uint8_t base;
+ } u_mesh_use_embedded_materials;
+ u_mesh_use_embedded_materials.base = 0;
+ u_mesh_use_embedded_materials.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ this->mesh_use_embedded_materials = u_mesh_use_embedded_materials.real;
+ offset += sizeof(this->mesh_use_embedded_materials);
+ return offset;
+ }
+
+ const char * getType(){ return "visualization_msgs/Marker"; };
+ const char * getMD5(){ return "18326976df9d29249efc939e00342cde"; };
+
+ };
+
+}
+#endif
\ No newline at end of file