ROS Serial library for Mbed platforms for ROS Jade Turtle. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: rosserial_mbed_hello_world_publisher_jade
ROSSerial_mbed for Jade 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_jade
rosserial_mbed Hello World example for jade distribution
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(); } }
control_msgs/JointTolerance.h@0:a906bb7c7831, 2016-03-31 (annotated)
- Committer:
- garyservin
- Date:
- Thu Mar 31 23:23:15 2016 +0000
- Revision:
- 0:a906bb7c7831
ROS Serial library for Mbed platforms for ROS Jade Turtle. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:a906bb7c7831 | 1 | #ifndef _ROS_control_msgs_JointTolerance_h |
garyservin | 0:a906bb7c7831 | 2 | #define _ROS_control_msgs_JointTolerance_h |
garyservin | 0:a906bb7c7831 | 3 | |
garyservin | 0:a906bb7c7831 | 4 | #include <stdint.h> |
garyservin | 0:a906bb7c7831 | 5 | #include <string.h> |
garyservin | 0:a906bb7c7831 | 6 | #include <stdlib.h> |
garyservin | 0:a906bb7c7831 | 7 | #include "ros/msg.h" |
garyservin | 0:a906bb7c7831 | 8 | |
garyservin | 0:a906bb7c7831 | 9 | namespace control_msgs |
garyservin | 0:a906bb7c7831 | 10 | { |
garyservin | 0:a906bb7c7831 | 11 | |
garyservin | 0:a906bb7c7831 | 12 | class JointTolerance : public ros::Msg |
garyservin | 0:a906bb7c7831 | 13 | { |
garyservin | 0:a906bb7c7831 | 14 | public: |
garyservin | 0:a906bb7c7831 | 15 | const char* name; |
garyservin | 0:a906bb7c7831 | 16 | double position; |
garyservin | 0:a906bb7c7831 | 17 | double velocity; |
garyservin | 0:a906bb7c7831 | 18 | double acceleration; |
garyservin | 0:a906bb7c7831 | 19 | |
garyservin | 0:a906bb7c7831 | 20 | JointTolerance(): |
garyservin | 0:a906bb7c7831 | 21 | name(""), |
garyservin | 0:a906bb7c7831 | 22 | position(0), |
garyservin | 0:a906bb7c7831 | 23 | velocity(0), |
garyservin | 0:a906bb7c7831 | 24 | acceleration(0) |
garyservin | 0:a906bb7c7831 | 25 | { |
garyservin | 0:a906bb7c7831 | 26 | } |
garyservin | 0:a906bb7c7831 | 27 | |
garyservin | 0:a906bb7c7831 | 28 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:a906bb7c7831 | 29 | { |
garyservin | 0:a906bb7c7831 | 30 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 31 | uint32_t length_name = strlen(this->name); |
garyservin | 0:a906bb7c7831 | 32 | memcpy(outbuffer + offset, &length_name, sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 33 | offset += 4; |
garyservin | 0:a906bb7c7831 | 34 | memcpy(outbuffer + offset, this->name, length_name); |
garyservin | 0:a906bb7c7831 | 35 | offset += length_name; |
garyservin | 0:a906bb7c7831 | 36 | union { |
garyservin | 0:a906bb7c7831 | 37 | double real; |
garyservin | 0:a906bb7c7831 | 38 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 39 | } u_position; |
garyservin | 0:a906bb7c7831 | 40 | u_position.real = this->position; |
garyservin | 0:a906bb7c7831 | 41 | *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 42 | *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 43 | *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 44 | *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 45 | *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 46 | *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 47 | *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 48 | *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 49 | offset += sizeof(this->position); |
garyservin | 0:a906bb7c7831 | 50 | union { |
garyservin | 0:a906bb7c7831 | 51 | double real; |
garyservin | 0:a906bb7c7831 | 52 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 53 | } u_velocity; |
garyservin | 0:a906bb7c7831 | 54 | u_velocity.real = this->velocity; |
garyservin | 0:a906bb7c7831 | 55 | *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 56 | *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 57 | *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 58 | *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 59 | *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 60 | *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 61 | *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 62 | *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 63 | offset += sizeof(this->velocity); |
garyservin | 0:a906bb7c7831 | 64 | union { |
garyservin | 0:a906bb7c7831 | 65 | double real; |
garyservin | 0:a906bb7c7831 | 66 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 67 | } u_acceleration; |
garyservin | 0:a906bb7c7831 | 68 | u_acceleration.real = this->acceleration; |
garyservin | 0:a906bb7c7831 | 69 | *(outbuffer + offset + 0) = (u_acceleration.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 70 | *(outbuffer + offset + 1) = (u_acceleration.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 71 | *(outbuffer + offset + 2) = (u_acceleration.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 72 | *(outbuffer + offset + 3) = (u_acceleration.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 73 | *(outbuffer + offset + 4) = (u_acceleration.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 74 | *(outbuffer + offset + 5) = (u_acceleration.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 75 | *(outbuffer + offset + 6) = (u_acceleration.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 76 | *(outbuffer + offset + 7) = (u_acceleration.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 77 | offset += sizeof(this->acceleration); |
garyservin | 0:a906bb7c7831 | 78 | return offset; |
garyservin | 0:a906bb7c7831 | 79 | } |
garyservin | 0:a906bb7c7831 | 80 | |
garyservin | 0:a906bb7c7831 | 81 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:a906bb7c7831 | 82 | { |
garyservin | 0:a906bb7c7831 | 83 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 84 | uint32_t length_name; |
garyservin | 0:a906bb7c7831 | 85 | memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 86 | offset += 4; |
garyservin | 0:a906bb7c7831 | 87 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
garyservin | 0:a906bb7c7831 | 88 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:a906bb7c7831 | 89 | } |
garyservin | 0:a906bb7c7831 | 90 | inbuffer[offset+length_name-1]=0; |
garyservin | 0:a906bb7c7831 | 91 | this->name = (char *)(inbuffer + offset-1); |
garyservin | 0:a906bb7c7831 | 92 | offset += length_name; |
garyservin | 0:a906bb7c7831 | 93 | union { |
garyservin | 0:a906bb7c7831 | 94 | double real; |
garyservin | 0:a906bb7c7831 | 95 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 96 | } u_position; |
garyservin | 0:a906bb7c7831 | 97 | u_position.base = 0; |
garyservin | 0:a906bb7c7831 | 98 | u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 99 | u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 100 | u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 101 | u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 102 | u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 103 | u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 104 | u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 105 | u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 106 | this->position = u_position.real; |
garyservin | 0:a906bb7c7831 | 107 | offset += sizeof(this->position); |
garyservin | 0:a906bb7c7831 | 108 | union { |
garyservin | 0:a906bb7c7831 | 109 | double real; |
garyservin | 0:a906bb7c7831 | 110 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 111 | } u_velocity; |
garyservin | 0:a906bb7c7831 | 112 | u_velocity.base = 0; |
garyservin | 0:a906bb7c7831 | 113 | u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 114 | u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 115 | u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 116 | u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 117 | u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 118 | u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 119 | u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 120 | u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 121 | this->velocity = u_velocity.real; |
garyservin | 0:a906bb7c7831 | 122 | offset += sizeof(this->velocity); |
garyservin | 0:a906bb7c7831 | 123 | union { |
garyservin | 0:a906bb7c7831 | 124 | double real; |
garyservin | 0:a906bb7c7831 | 125 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 126 | } u_acceleration; |
garyservin | 0:a906bb7c7831 | 127 | u_acceleration.base = 0; |
garyservin | 0:a906bb7c7831 | 128 | u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 129 | u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 130 | u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 131 | u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 132 | u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 133 | u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 134 | u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 135 | u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 136 | this->acceleration = u_acceleration.real; |
garyservin | 0:a906bb7c7831 | 137 | offset += sizeof(this->acceleration); |
garyservin | 0:a906bb7c7831 | 138 | return offset; |
garyservin | 0:a906bb7c7831 | 139 | } |
garyservin | 0:a906bb7c7831 | 140 | |
garyservin | 0:a906bb7c7831 | 141 | const char * getType(){ return "control_msgs/JointTolerance"; }; |
garyservin | 0:a906bb7c7831 | 142 | const char * getMD5(){ return "f544fe9c16cf04547e135dd6063ff5be"; }; |
garyservin | 0:a906bb7c7831 | 143 | |
garyservin | 0:a906bb7c7831 | 144 | }; |
garyservin | 0:a906bb7c7831 | 145 | |
garyservin | 0:a906bb7c7831 | 146 | } |
garyservin | 0:a906bb7c7831 | 147 | #endif |