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();
    }
}

actionlib/TestRequestGoal.h

Committer:
garyservin
Date:
2016-03-31
Revision:
0:fd24f7ca9688

File content as of revision 0:fd24f7ca9688:

#ifndef _ROS_actionlib_TestRequestGoal_h
#define _ROS_actionlib_TestRequestGoal_h

#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "ros/duration.h"

namespace actionlib
{

  class TestRequestGoal : public ros::Msg
  {
    public:
      int32_t terminate_status;
      bool ignore_cancel;
      const char* result_text;
      int32_t the_result;
      bool is_simple_client;
      ros::Duration delay_accept;
      ros::Duration delay_terminate;
      ros::Duration pause_status;
      enum { TERMINATE_SUCCESS =  0 };
      enum { TERMINATE_ABORTED =  1 };
      enum { TERMINATE_REJECTED =  2 };
      enum { TERMINATE_LOSE =  3 };
      enum { TERMINATE_DROP =  4 };
      enum { TERMINATE_EXCEPTION =  5 };

    TestRequestGoal():
      terminate_status(0),
      ignore_cancel(0),
      result_text(""),
      the_result(0),
      is_simple_client(0),
      delay_accept(),
      delay_terminate(),
      pause_status()
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      union {
        int32_t real;
        uint32_t base;
      } u_terminate_status;
      u_terminate_status.real = this->terminate_status;
      *(outbuffer + offset + 0) = (u_terminate_status.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_terminate_status.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_terminate_status.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_terminate_status.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->terminate_status);
      union {
        bool real;
        uint8_t base;
      } u_ignore_cancel;
      u_ignore_cancel.real = this->ignore_cancel;
      *(outbuffer + offset + 0) = (u_ignore_cancel.base >> (8 * 0)) & 0xFF;
      offset += sizeof(this->ignore_cancel);
      uint32_t length_result_text = strlen(this->result_text);
      memcpy(outbuffer + offset, &length_result_text, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->result_text, length_result_text);
      offset += length_result_text;
      union {
        int32_t real;
        uint32_t base;
      } u_the_result;
      u_the_result.real = this->the_result;
      *(outbuffer + offset + 0) = (u_the_result.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_the_result.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_the_result.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_the_result.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->the_result);
      union {
        bool real;
        uint8_t base;
      } u_is_simple_client;
      u_is_simple_client.real = this->is_simple_client;
      *(outbuffer + offset + 0) = (u_is_simple_client.base >> (8 * 0)) & 0xFF;
      offset += sizeof(this->is_simple_client);
      *(outbuffer + offset + 0) = (this->delay_accept.sec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->delay_accept.sec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->delay_accept.sec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->delay_accept.sec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->delay_accept.sec);
      *(outbuffer + offset + 0) = (this->delay_accept.nsec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->delay_accept.nsec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->delay_accept.nsec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->delay_accept.nsec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->delay_accept.nsec);
      *(outbuffer + offset + 0) = (this->delay_terminate.sec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->delay_terminate.sec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->delay_terminate.sec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->delay_terminate.sec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->delay_terminate.sec);
      *(outbuffer + offset + 0) = (this->delay_terminate.nsec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->delay_terminate.nsec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->delay_terminate.nsec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->delay_terminate.nsec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->delay_terminate.nsec);
      *(outbuffer + offset + 0) = (this->pause_status.sec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->pause_status.sec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->pause_status.sec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->pause_status.sec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->pause_status.sec);
      *(outbuffer + offset + 0) = (this->pause_status.nsec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->pause_status.nsec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->pause_status.nsec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->pause_status.nsec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->pause_status.nsec);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      union {
        int32_t real;
        uint32_t base;
      } u_terminate_status;
      u_terminate_status.base = 0;
      u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->terminate_status = u_terminate_status.real;
      offset += sizeof(this->terminate_status);
      union {
        bool real;
        uint8_t base;
      } u_ignore_cancel;
      u_ignore_cancel.base = 0;
      u_ignore_cancel.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
      this->ignore_cancel = u_ignore_cancel.real;
      offset += sizeof(this->ignore_cancel);
      uint32_t length_result_text;
      memcpy(&length_result_text, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_result_text; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_result_text-1]=0;
      this->result_text = (char *)(inbuffer + offset-1);
      offset += length_result_text;
      union {
        int32_t real;
        uint32_t base;
      } u_the_result;
      u_the_result.base = 0;
      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->the_result = u_the_result.real;
      offset += sizeof(this->the_result);
      union {
        bool real;
        uint8_t base;
      } u_is_simple_client;
      u_is_simple_client.base = 0;
      u_is_simple_client.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
      this->is_simple_client = u_is_simple_client.real;
      offset += sizeof(this->is_simple_client);
      this->delay_accept.sec =  ((uint32_t) (*(inbuffer + offset)));
      this->delay_accept.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->delay_accept.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->delay_accept.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->delay_accept.sec);
      this->delay_accept.nsec =  ((uint32_t) (*(inbuffer + offset)));
      this->delay_accept.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->delay_accept.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->delay_accept.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->delay_accept.nsec);
      this->delay_terminate.sec =  ((uint32_t) (*(inbuffer + offset)));
      this->delay_terminate.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->delay_terminate.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->delay_terminate.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->delay_terminate.sec);
      this->delay_terminate.nsec =  ((uint32_t) (*(inbuffer + offset)));
      this->delay_terminate.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->delay_terminate.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->delay_terminate.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->delay_terminate.nsec);
      this->pause_status.sec =  ((uint32_t) (*(inbuffer + offset)));
      this->pause_status.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->pause_status.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->pause_status.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->pause_status.sec);
      this->pause_status.nsec =  ((uint32_t) (*(inbuffer + offset)));
      this->pause_status.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->pause_status.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->pause_status.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->pause_status.nsec);
     return offset;
    }

    const char * getType(){ return "actionlib/TestRequestGoal"; };
    const char * getMD5(){ return "db5d00ba98302d6c6dd3737e9a03ceea"; };

  };

}
#endif