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();
    }
}

smach_msgs/SmachContainerStructure.h

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

File content as of revision 0:fd24f7ca9688:

#ifndef _ROS_smach_msgs_SmachContainerStructure_h
#define _ROS_smach_msgs_SmachContainerStructure_h

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

namespace smach_msgs
{

  class SmachContainerStructure : public ros::Msg
  {
    public:
      std_msgs::Header header;
      const char* path;
      uint8_t children_length;
      char* st_children;
      char* * children;
      uint8_t internal_outcomes_length;
      char* st_internal_outcomes;
      char* * internal_outcomes;
      uint8_t outcomes_from_length;
      char* st_outcomes_from;
      char* * outcomes_from;
      uint8_t outcomes_to_length;
      char* st_outcomes_to;
      char* * outcomes_to;
      uint8_t container_outcomes_length;
      char* st_container_outcomes;
      char* * container_outcomes;

    SmachContainerStructure():
      header(),
      path(""),
      children_length(0), children(NULL),
      internal_outcomes_length(0), internal_outcomes(NULL),
      outcomes_from_length(0), outcomes_from(NULL),
      outcomes_to_length(0), outcomes_to(NULL),
      container_outcomes_length(0), container_outcomes(NULL)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      offset += this->header.serialize(outbuffer + offset);
      uint32_t length_path = strlen(this->path);
      memcpy(outbuffer + offset, &length_path, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->path, length_path);
      offset += length_path;
      *(outbuffer + offset++) = children_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < children_length; i++){
      uint32_t length_childreni = strlen(this->children[i]);
      memcpy(outbuffer + offset, &length_childreni, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->children[i], length_childreni);
      offset += length_childreni;
      }
      *(outbuffer + offset++) = internal_outcomes_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < internal_outcomes_length; i++){
      uint32_t length_internal_outcomesi = strlen(this->internal_outcomes[i]);
      memcpy(outbuffer + offset, &length_internal_outcomesi, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->internal_outcomes[i], length_internal_outcomesi);
      offset += length_internal_outcomesi;
      }
      *(outbuffer + offset++) = outcomes_from_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < outcomes_from_length; i++){
      uint32_t length_outcomes_fromi = strlen(this->outcomes_from[i]);
      memcpy(outbuffer + offset, &length_outcomes_fromi, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->outcomes_from[i], length_outcomes_fromi);
      offset += length_outcomes_fromi;
      }
      *(outbuffer + offset++) = outcomes_to_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < outcomes_to_length; i++){
      uint32_t length_outcomes_toi = strlen(this->outcomes_to[i]);
      memcpy(outbuffer + offset, &length_outcomes_toi, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->outcomes_to[i], length_outcomes_toi);
      offset += length_outcomes_toi;
      }
      *(outbuffer + offset++) = container_outcomes_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < container_outcomes_length; i++){
      uint32_t length_container_outcomesi = strlen(this->container_outcomes[i]);
      memcpy(outbuffer + offset, &length_container_outcomesi, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->container_outcomes[i], length_container_outcomesi);
      offset += length_container_outcomesi;
      }
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      offset += this->header.deserialize(inbuffer + offset);
      uint32_t length_path;
      memcpy(&length_path, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_path; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_path-1]=0;
      this->path = (char *)(inbuffer + offset-1);
      offset += length_path;
      uint8_t children_lengthT = *(inbuffer + offset++);
      if(children_lengthT > children_length)
        this->children = (char**)realloc(this->children, children_lengthT * sizeof(char*));
      offset += 3;
      children_length = children_lengthT;
      for( uint8_t i = 0; i < children_length; i++){
      uint32_t length_st_children;
      memcpy(&length_st_children, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_st_children; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_st_children-1]=0;
      this->st_children = (char *)(inbuffer + offset-1);
      offset += length_st_children;
        memcpy( &(this->children[i]), &(this->st_children), sizeof(char*));
      }
      uint8_t internal_outcomes_lengthT = *(inbuffer + offset++);
      if(internal_outcomes_lengthT > internal_outcomes_length)
        this->internal_outcomes = (char**)realloc(this->internal_outcomes, internal_outcomes_lengthT * sizeof(char*));
      offset += 3;
      internal_outcomes_length = internal_outcomes_lengthT;
      for( uint8_t i = 0; i < internal_outcomes_length; i++){
      uint32_t length_st_internal_outcomes;
      memcpy(&length_st_internal_outcomes, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_st_internal_outcomes; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_st_internal_outcomes-1]=0;
      this->st_internal_outcomes = (char *)(inbuffer + offset-1);
      offset += length_st_internal_outcomes;
        memcpy( &(this->internal_outcomes[i]), &(this->st_internal_outcomes), sizeof(char*));
      }
      uint8_t outcomes_from_lengthT = *(inbuffer + offset++);
      if(outcomes_from_lengthT > outcomes_from_length)
        this->outcomes_from = (char**)realloc(this->outcomes_from, outcomes_from_lengthT * sizeof(char*));
      offset += 3;
      outcomes_from_length = outcomes_from_lengthT;
      for( uint8_t i = 0; i < outcomes_from_length; i++){
      uint32_t length_st_outcomes_from;
      memcpy(&length_st_outcomes_from, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_st_outcomes_from; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_st_outcomes_from-1]=0;
      this->st_outcomes_from = (char *)(inbuffer + offset-1);
      offset += length_st_outcomes_from;
        memcpy( &(this->outcomes_from[i]), &(this->st_outcomes_from), sizeof(char*));
      }
      uint8_t outcomes_to_lengthT = *(inbuffer + offset++);
      if(outcomes_to_lengthT > outcomes_to_length)
        this->outcomes_to = (char**)realloc(this->outcomes_to, outcomes_to_lengthT * sizeof(char*));
      offset += 3;
      outcomes_to_length = outcomes_to_lengthT;
      for( uint8_t i = 0; i < outcomes_to_length; i++){
      uint32_t length_st_outcomes_to;
      memcpy(&length_st_outcomes_to, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_st_outcomes_to; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_st_outcomes_to-1]=0;
      this->st_outcomes_to = (char *)(inbuffer + offset-1);
      offset += length_st_outcomes_to;
        memcpy( &(this->outcomes_to[i]), &(this->st_outcomes_to), sizeof(char*));
      }
      uint8_t container_outcomes_lengthT = *(inbuffer + offset++);
      if(container_outcomes_lengthT > container_outcomes_length)
        this->container_outcomes = (char**)realloc(this->container_outcomes, container_outcomes_lengthT * sizeof(char*));
      offset += 3;
      container_outcomes_length = container_outcomes_lengthT;
      for( uint8_t i = 0; i < container_outcomes_length; i++){
      uint32_t length_st_container_outcomes;
      memcpy(&length_st_container_outcomes, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_st_container_outcomes; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_st_container_outcomes-1]=0;
      this->st_container_outcomes = (char *)(inbuffer + offset-1);
      offset += length_st_container_outcomes;
        memcpy( &(this->container_outcomes[i]), &(this->st_container_outcomes), sizeof(char*));
      }
     return offset;
    }

    const char * getType(){ return "smach_msgs/SmachContainerStructure"; };
    const char * getMD5(){ return "3d3d1e0d0f99779ee9e58101a5dcf7ea"; };

  };

}
#endif