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();
    }
}

control_msgs/JointTolerance.h

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

File content as of revision 0:fd24f7ca9688:

#ifndef _ROS_control_msgs_JointTolerance_h
#define _ROS_control_msgs_JointTolerance_h

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

namespace control_msgs
{

  class JointTolerance : public ros::Msg
  {
    public:
      const char* name;
      double position;
      double velocity;
      double acceleration;

    JointTolerance():
      name(""),
      position(0),
      velocity(0),
      acceleration(0)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      uint32_t length_name = strlen(this->name);
      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->name, length_name);
      offset += length_name;
      union {
        double real;
        uint64_t base;
      } u_position;
      u_position.real = this->position;
      *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
      *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
      *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
      *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
      *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
      offset += sizeof(this->position);
      union {
        double real;
        uint64_t base;
      } u_velocity;
      u_velocity.real = this->velocity;
      *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
      *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
      *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
      *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
      *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
      offset += sizeof(this->velocity);
      union {
        double real;
        uint64_t base;
      } u_acceleration;
      u_acceleration.real = this->acceleration;
      *(outbuffer + offset + 0) = (u_acceleration.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_acceleration.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_acceleration.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_acceleration.base >> (8 * 3)) & 0xFF;
      *(outbuffer + offset + 4) = (u_acceleration.base >> (8 * 4)) & 0xFF;
      *(outbuffer + offset + 5) = (u_acceleration.base >> (8 * 5)) & 0xFF;
      *(outbuffer + offset + 6) = (u_acceleration.base >> (8 * 6)) & 0xFF;
      *(outbuffer + offset + 7) = (u_acceleration.base >> (8 * 7)) & 0xFF;
      offset += sizeof(this->acceleration);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t length_name;
      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_name; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_name-1]=0;
      this->name = (char *)(inbuffer + offset-1);
      offset += length_name;
      union {
        double real;
        uint64_t base;
      } u_position;
      u_position.base = 0;
      u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
      u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
      u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
      u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
      u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
      this->position = u_position.real;
      offset += sizeof(this->position);
      union {
        double real;
        uint64_t base;
      } u_velocity;
      u_velocity.base = 0;
      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
      this->velocity = u_velocity.real;
      offset += sizeof(this->velocity);
      union {
        double real;
        uint64_t base;
      } u_acceleration;
      u_acceleration.base = 0;
      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
      this->acceleration = u_acceleration.real;
      offset += sizeof(this->acceleration);
     return offset;
    }

    const char * getType(){ return "control_msgs/JointTolerance"; };
    const char * getMD5(){ return "f544fe9c16cf04547e135dd6063ff5be"; };

  };

}
#endif