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();
    }
}

rosserial_msgs/RequestParam.h

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

File content as of revision 0:fd24f7ca9688:

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

namespace rosserial_msgs
{

static const char REQUESTPARAM[] = "rosserial_msgs/RequestParam";

  class RequestParamRequest : public ros::Msg
  {
    public:
      const char* name;

    RequestParamRequest():
      name("")
    {
    }

    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;
      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;
     return offset;
    }

    const char * getType(){ return REQUESTPARAM; };
    const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };

  };

  class RequestParamResponse : public ros::Msg
  {
    public:
      uint8_t ints_length;
      int32_t st_ints;
      int32_t * ints;
      uint8_t floats_length;
      float st_floats;
      float * floats;
      uint8_t strings_length;
      char* st_strings;
      char* * strings;

    RequestParamResponse():
      ints_length(0), ints(NULL),
      floats_length(0), floats(NULL),
      strings_length(0), strings(NULL)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      *(outbuffer + offset++) = ints_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < ints_length; i++){
      union {
        int32_t real;
        uint32_t base;
      } u_intsi;
      u_intsi.real = this->ints[i];
      *(outbuffer + offset + 0) = (u_intsi.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_intsi.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_intsi.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_intsi.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->ints[i]);
      }
      *(outbuffer + offset++) = floats_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < floats_length; i++){
      union {
        float real;
        uint32_t base;
      } u_floatsi;
      u_floatsi.real = this->floats[i];
      *(outbuffer + offset + 0) = (u_floatsi.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_floatsi.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_floatsi.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_floatsi.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->floats[i]);
      }
      *(outbuffer + offset++) = strings_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < strings_length; i++){
      uint32_t length_stringsi = strlen(this->strings[i]);
      memcpy(outbuffer + offset, &length_stringsi, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->strings[i], length_stringsi);
      offset += length_stringsi;
      }
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint8_t ints_lengthT = *(inbuffer + offset++);
      if(ints_lengthT > ints_length)
        this->ints = (int32_t*)realloc(this->ints, ints_lengthT * sizeof(int32_t));
      offset += 3;
      ints_length = ints_lengthT;
      for( uint8_t i = 0; i < ints_length; i++){
      union {
        int32_t real;
        uint32_t base;
      } u_st_ints;
      u_st_ints.base = 0;
      u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->st_ints = u_st_ints.real;
      offset += sizeof(this->st_ints);
        memcpy( &(this->ints[i]), &(this->st_ints), sizeof(int32_t));
      }
      uint8_t floats_lengthT = *(inbuffer + offset++);
      if(floats_lengthT > floats_length)
        this->floats = (float*)realloc(this->floats, floats_lengthT * sizeof(float));
      offset += 3;
      floats_length = floats_lengthT;
      for( uint8_t i = 0; i < floats_length; i++){
      union {
        float real;
        uint32_t base;
      } u_st_floats;
      u_st_floats.base = 0;
      u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->st_floats = u_st_floats.real;
      offset += sizeof(this->st_floats);
        memcpy( &(this->floats[i]), &(this->st_floats), sizeof(float));
      }
      uint8_t strings_lengthT = *(inbuffer + offset++);
      if(strings_lengthT > strings_length)
        this->strings = (char**)realloc(this->strings, strings_lengthT * sizeof(char*));
      offset += 3;
      strings_length = strings_lengthT;
      for( uint8_t i = 0; i < strings_length; i++){
      uint32_t length_st_strings;
      memcpy(&length_st_strings, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_st_strings; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_st_strings-1]=0;
      this->st_strings = (char *)(inbuffer + offset-1);
      offset += length_st_strings;
        memcpy( &(this->strings[i]), &(this->st_strings), sizeof(char*));
      }
     return offset;
    }

    const char * getType(){ return REQUESTPARAM; };
    const char * getMD5(){ return "9f0e98bda65981986ddf53afa7a40e49"; };

  };

  class RequestParam {
    public:
    typedef RequestParamRequest Request;
    typedef RequestParamResponse Response;
  };

}
#endif