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();
    }
}

gazebo_msgs/ApplyBodyWrench.h

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

File content as of revision 0:fd24f7ca9688:

#ifndef _ROS_SERVICE_ApplyBodyWrench_h
#define _ROS_SERVICE_ApplyBodyWrench_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "ros/duration.h"
#include "geometry_msgs/Wrench.h"
#include "ros/time.h"
#include "geometry_msgs/Point.h"

namespace gazebo_msgs
{

static const char APPLYBODYWRENCH[] = "gazebo_msgs/ApplyBodyWrench";

  class ApplyBodyWrenchRequest : public ros::Msg
  {
    public:
      const char* body_name;
      const char* reference_frame;
      geometry_msgs::Point reference_point;
      geometry_msgs::Wrench wrench;
      ros::Time start_time;
      ros::Duration duration;

    ApplyBodyWrenchRequest():
      body_name(""),
      reference_frame(""),
      reference_point(),
      wrench(),
      start_time(),
      duration()
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      uint32_t length_body_name = strlen(this->body_name);
      memcpy(outbuffer + offset, &length_body_name, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->body_name, length_body_name);
      offset += length_body_name;
      uint32_t length_reference_frame = strlen(this->reference_frame);
      memcpy(outbuffer + offset, &length_reference_frame, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
      offset += length_reference_frame;
      offset += this->reference_point.serialize(outbuffer + offset);
      offset += this->wrench.serialize(outbuffer + offset);
      *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->start_time.sec);
      *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->start_time.nsec);
      *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->duration.sec);
      *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->duration.nsec);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t length_body_name;
      memcpy(&length_body_name, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_body_name; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_body_name-1]=0;
      this->body_name = (char *)(inbuffer + offset-1);
      offset += length_body_name;
      uint32_t length_reference_frame;
      memcpy(&length_reference_frame, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_reference_frame-1]=0;
      this->reference_frame = (char *)(inbuffer + offset-1);
      offset += length_reference_frame;
      offset += this->reference_point.deserialize(inbuffer + offset);
      offset += this->wrench.deserialize(inbuffer + offset);
      this->start_time.sec =  ((uint32_t) (*(inbuffer + offset)));
      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->start_time.sec);
      this->start_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->start_time.nsec);
      this->duration.sec =  ((uint32_t) (*(inbuffer + offset)));
      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->duration.sec);
      this->duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->duration.nsec);
     return offset;
    }

    const char * getType(){ return APPLYBODYWRENCH; };
    const char * getMD5(){ return "e37e6adf97eba5095baa77dffb71e5bd"; };

  };

  class ApplyBodyWrenchResponse : public ros::Msg
  {
    public:
      bool success;
      const char* status_message;

    ApplyBodyWrenchResponse():
      success(0),
      status_message("")
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      union {
        bool real;
        uint8_t base;
      } u_success;
      u_success.real = this->success;
      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
      offset += sizeof(this->success);
      uint32_t length_status_message = strlen(this->status_message);
      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->status_message, length_status_message);
      offset += length_status_message;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      union {
        bool real;
        uint8_t base;
      } u_success;
      u_success.base = 0;
      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
      this->success = u_success.real;
      offset += sizeof(this->success);
      uint32_t length_status_message;
      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_status_message; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_status_message-1]=0;
      this->status_message = (char *)(inbuffer + offset-1);
      offset += length_status_message;
     return offset;
    }

    const char * getType(){ return APPLYBODYWRENCH; };
    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };

  };

  class ApplyBodyWrench {
    public:
    typedef ApplyBodyWrenchRequest Request;
    typedef ApplyBodyWrenchResponse Response;
  };

}
#endif