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(); } }
dynamic_reconfigure/Config.h
- Committer:
- garyservin
- Date:
- 2016-03-31
- Revision:
- 0:fd24f7ca9688
File content as of revision 0:fd24f7ca9688:
#ifndef _ROS_dynamic_reconfigure_Config_h #define _ROS_dynamic_reconfigure_Config_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "dynamic_reconfigure/BoolParameter.h" #include "dynamic_reconfigure/IntParameter.h" #include "dynamic_reconfigure/StrParameter.h" #include "dynamic_reconfigure/DoubleParameter.h" #include "dynamic_reconfigure/GroupState.h" namespace dynamic_reconfigure { class Config : public ros::Msg { public: uint8_t bools_length; dynamic_reconfigure::BoolParameter st_bools; dynamic_reconfigure::BoolParameter * bools; uint8_t ints_length; dynamic_reconfigure::IntParameter st_ints; dynamic_reconfigure::IntParameter * ints; uint8_t strs_length; dynamic_reconfigure::StrParameter st_strs; dynamic_reconfigure::StrParameter * strs; uint8_t doubles_length; dynamic_reconfigure::DoubleParameter st_doubles; dynamic_reconfigure::DoubleParameter * doubles; uint8_t groups_length; dynamic_reconfigure::GroupState st_groups; dynamic_reconfigure::GroupState * groups; Config(): bools_length(0), bools(NULL), ints_length(0), ints(NULL), strs_length(0), strs(NULL), doubles_length(0), doubles(NULL), groups_length(0), groups(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset++) = bools_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < bools_length; i++){ offset += this->bools[i].serialize(outbuffer + offset); } *(outbuffer + offset++) = ints_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < ints_length; i++){ offset += this->ints[i].serialize(outbuffer + offset); } *(outbuffer + offset++) = strs_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < strs_length; i++){ offset += this->strs[i].serialize(outbuffer + offset); } *(outbuffer + offset++) = doubles_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < doubles_length; i++){ offset += this->doubles[i].serialize(outbuffer + offset); } *(outbuffer + offset++) = groups_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < groups_length; i++){ offset += this->groups[i].serialize(outbuffer + offset); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint8_t bools_lengthT = *(inbuffer + offset++); if(bools_lengthT > bools_length) this->bools = (dynamic_reconfigure::BoolParameter*)realloc(this->bools, bools_lengthT * sizeof(dynamic_reconfigure::BoolParameter)); offset += 3; bools_length = bools_lengthT; for( uint8_t i = 0; i < bools_length; i++){ offset += this->st_bools.deserialize(inbuffer + offset); memcpy( &(this->bools[i]), &(this->st_bools), sizeof(dynamic_reconfigure::BoolParameter)); } uint8_t ints_lengthT = *(inbuffer + offset++); if(ints_lengthT > ints_length) this->ints = (dynamic_reconfigure::IntParameter*)realloc(this->ints, ints_lengthT * sizeof(dynamic_reconfigure::IntParameter)); offset += 3; ints_length = ints_lengthT; for( uint8_t i = 0; i < ints_length; i++){ offset += this->st_ints.deserialize(inbuffer + offset); memcpy( &(this->ints[i]), &(this->st_ints), sizeof(dynamic_reconfigure::IntParameter)); } uint8_t strs_lengthT = *(inbuffer + offset++); if(strs_lengthT > strs_length) this->strs = (dynamic_reconfigure::StrParameter*)realloc(this->strs, strs_lengthT * sizeof(dynamic_reconfigure::StrParameter)); offset += 3; strs_length = strs_lengthT; for( uint8_t i = 0; i < strs_length; i++){ offset += this->st_strs.deserialize(inbuffer + offset); memcpy( &(this->strs[i]), &(this->st_strs), sizeof(dynamic_reconfigure::StrParameter)); } uint8_t doubles_lengthT = *(inbuffer + offset++); if(doubles_lengthT > doubles_length) this->doubles = (dynamic_reconfigure::DoubleParameter*)realloc(this->doubles, doubles_lengthT * sizeof(dynamic_reconfigure::DoubleParameter)); offset += 3; doubles_length = doubles_lengthT; for( uint8_t i = 0; i < doubles_length; i++){ offset += this->st_doubles.deserialize(inbuffer + offset); memcpy( &(this->doubles[i]), &(this->st_doubles), sizeof(dynamic_reconfigure::DoubleParameter)); } uint8_t groups_lengthT = *(inbuffer + offset++); if(groups_lengthT > groups_length) this->groups = (dynamic_reconfigure::GroupState*)realloc(this->groups, groups_lengthT * sizeof(dynamic_reconfigure::GroupState)); offset += 3; groups_length = groups_lengthT; for( uint8_t i = 0; i < groups_length; i++){ offset += this->st_groups.deserialize(inbuffer + offset); memcpy( &(this->groups[i]), &(this->st_groups), sizeof(dynamic_reconfigure::GroupState)); } return offset; } const char * getType(){ return "dynamic_reconfigure/Config"; }; const char * getMD5(){ return "958f16a05573709014982821e6822580"; }; }; } #endif