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(); } }
gazebo_msgs/GetJointProperties.h
- Committer:
- garyservin
- Date:
- 2016-03-31
- Revision:
- 0:fd24f7ca9688
File content as of revision 0:fd24f7ca9688:
#ifndef _ROS_SERVICE_GetJointProperties_h #define _ROS_SERVICE_GetJointProperties_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace gazebo_msgs { static const char GETJOINTPROPERTIES[] = "gazebo_msgs/GetJointProperties"; class GetJointPropertiesRequest : public ros::Msg { public: const char* joint_name; GetJointPropertiesRequest(): joint_name("") { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_joint_name = strlen(this->joint_name); memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->joint_name, length_joint_name); offset += length_joint_name; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_joint_name; memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_joint_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_joint_name-1]=0; this->joint_name = (char *)(inbuffer + offset-1); offset += length_joint_name; return offset; } const char * getType(){ return GETJOINTPROPERTIES; }; const char * getMD5(){ return "0be1351618e1dc030eb7959d9a4902de"; }; }; class GetJointPropertiesResponse : public ros::Msg { public: uint8_t type; uint8_t damping_length; double st_damping; double * damping; uint8_t position_length; double st_position; double * position; uint8_t rate_length; double st_rate; double * rate; bool success; const char* status_message; enum { REVOLUTE = 0 }; enum { CONTINUOUS = 1 }; enum { PRISMATIC = 2 }; enum { FIXED = 3 }; enum { BALL = 4 }; enum { UNIVERSAL = 5 }; GetJointPropertiesResponse(): type(0), damping_length(0), damping(NULL), position_length(0), position(NULL), rate_length(0), rate(NULL), success(0), status_message("") { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF; offset += sizeof(this->type); *(outbuffer + offset++) = damping_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < damping_length; i++){ union { double real; uint64_t base; } u_dampingi; u_dampingi.real = this->damping[i]; *(outbuffer + offset + 0) = (u_dampingi.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_dampingi.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_dampingi.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_dampingi.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_dampingi.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_dampingi.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_dampingi.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_dampingi.base >> (8 * 7)) & 0xFF; offset += sizeof(this->damping[i]); } *(outbuffer + offset++) = position_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < position_length; i++){ union { double real; uint64_t base; } u_positioni; u_positioni.real = this->position[i]; *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF; offset += sizeof(this->position[i]); } *(outbuffer + offset++) = rate_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < rate_length; i++){ union { double real; uint64_t base; } u_ratei; u_ratei.real = this->rate[i]; *(outbuffer + offset + 0) = (u_ratei.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_ratei.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_ratei.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_ratei.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_ratei.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_ratei.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_ratei.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_ratei.base >> (8 * 7)) & 0xFF; offset += sizeof(this->rate[i]); } 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; this->type = ((uint8_t) (*(inbuffer + offset))); offset += sizeof(this->type); uint8_t damping_lengthT = *(inbuffer + offset++); if(damping_lengthT > damping_length) this->damping = (double*)realloc(this->damping, damping_lengthT * sizeof(double)); offset += 3; damping_length = damping_lengthT; for( uint8_t i = 0; i < damping_length; i++){ union { double real; uint64_t base; } u_st_damping; u_st_damping.base = 0; u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_damping = u_st_damping.real; offset += sizeof(this->st_damping); memcpy( &(this->damping[i]), &(this->st_damping), sizeof(double)); } uint8_t position_lengthT = *(inbuffer + offset++); if(position_lengthT > position_length) this->position = (double*)realloc(this->position, position_lengthT * sizeof(double)); offset += 3; position_length = position_lengthT; for( uint8_t i = 0; i < position_length; i++){ union { double real; uint64_t base; } u_st_position; u_st_position.base = 0; u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_position = u_st_position.real; offset += sizeof(this->st_position); memcpy( &(this->position[i]), &(this->st_position), sizeof(double)); } uint8_t rate_lengthT = *(inbuffer + offset++); if(rate_lengthT > rate_length) this->rate = (double*)realloc(this->rate, rate_lengthT * sizeof(double)); offset += 3; rate_length = rate_lengthT; for( uint8_t i = 0; i < rate_length; i++){ union { double real; uint64_t base; } u_st_rate; u_st_rate.base = 0; u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_rate = u_st_rate.real; offset += sizeof(this->st_rate); memcpy( &(this->rate[i]), &(this->st_rate), sizeof(double)); } 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 GETJOINTPROPERTIES; }; const char * getMD5(){ return "cd7b30a39faa372283dc94c5f6457f82"; }; }; class GetJointProperties { public: typedef GetJointPropertiesRequest Request; typedef GetJointPropertiesResponse Response; }; } #endif