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(); } }
nodelet/NodeletLoad.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_SERVICE_NodeletLoad_h |
garyservin | 0:a906bb7c7831 | 2 | #define _ROS_SERVICE_NodeletLoad_h |
garyservin | 0:a906bb7c7831 | 3 | #include <stdint.h> |
garyservin | 0:a906bb7c7831 | 4 | #include <string.h> |
garyservin | 0:a906bb7c7831 | 5 | #include <stdlib.h> |
garyservin | 0:a906bb7c7831 | 6 | #include "ros/msg.h" |
garyservin | 0:a906bb7c7831 | 7 | |
garyservin | 0:a906bb7c7831 | 8 | namespace nodelet |
garyservin | 0:a906bb7c7831 | 9 | { |
garyservin | 0:a906bb7c7831 | 10 | |
garyservin | 0:a906bb7c7831 | 11 | static const char NODELETLOAD[] = "nodelet/NodeletLoad"; |
garyservin | 0:a906bb7c7831 | 12 | |
garyservin | 0:a906bb7c7831 | 13 | class NodeletLoadRequest : public ros::Msg |
garyservin | 0:a906bb7c7831 | 14 | { |
garyservin | 0:a906bb7c7831 | 15 | public: |
garyservin | 0:a906bb7c7831 | 16 | const char* name; |
garyservin | 0:a906bb7c7831 | 17 | const char* type; |
garyservin | 0:a906bb7c7831 | 18 | uint8_t remap_source_args_length; |
garyservin | 0:a906bb7c7831 | 19 | char* st_remap_source_args; |
garyservin | 0:a906bb7c7831 | 20 | char* * remap_source_args; |
garyservin | 0:a906bb7c7831 | 21 | uint8_t remap_target_args_length; |
garyservin | 0:a906bb7c7831 | 22 | char* st_remap_target_args; |
garyservin | 0:a906bb7c7831 | 23 | char* * remap_target_args; |
garyservin | 0:a906bb7c7831 | 24 | uint8_t my_argv_length; |
garyservin | 0:a906bb7c7831 | 25 | char* st_my_argv; |
garyservin | 0:a906bb7c7831 | 26 | char* * my_argv; |
garyservin | 0:a906bb7c7831 | 27 | const char* bond_id; |
garyservin | 0:a906bb7c7831 | 28 | |
garyservin | 0:a906bb7c7831 | 29 | NodeletLoadRequest(): |
garyservin | 0:a906bb7c7831 | 30 | name(""), |
garyservin | 0:a906bb7c7831 | 31 | type(""), |
garyservin | 0:a906bb7c7831 | 32 | remap_source_args_length(0), remap_source_args(NULL), |
garyservin | 0:a906bb7c7831 | 33 | remap_target_args_length(0), remap_target_args(NULL), |
garyservin | 0:a906bb7c7831 | 34 | my_argv_length(0), my_argv(NULL), |
garyservin | 0:a906bb7c7831 | 35 | bond_id("") |
garyservin | 0:a906bb7c7831 | 36 | { |
garyservin | 0:a906bb7c7831 | 37 | } |
garyservin | 0:a906bb7c7831 | 38 | |
garyservin | 0:a906bb7c7831 | 39 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:a906bb7c7831 | 40 | { |
garyservin | 0:a906bb7c7831 | 41 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 42 | uint32_t length_name = strlen(this->name); |
garyservin | 0:a906bb7c7831 | 43 | memcpy(outbuffer + offset, &length_name, sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 44 | offset += 4; |
garyservin | 0:a906bb7c7831 | 45 | memcpy(outbuffer + offset, this->name, length_name); |
garyservin | 0:a906bb7c7831 | 46 | offset += length_name; |
garyservin | 0:a906bb7c7831 | 47 | uint32_t length_type = strlen(this->type); |
garyservin | 0:a906bb7c7831 | 48 | memcpy(outbuffer + offset, &length_type, sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 49 | offset += 4; |
garyservin | 0:a906bb7c7831 | 50 | memcpy(outbuffer + offset, this->type, length_type); |
garyservin | 0:a906bb7c7831 | 51 | offset += length_type; |
garyservin | 0:a906bb7c7831 | 52 | *(outbuffer + offset++) = remap_source_args_length; |
garyservin | 0:a906bb7c7831 | 53 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 54 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 55 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 56 | for( uint8_t i = 0; i < remap_source_args_length; i++){ |
garyservin | 0:a906bb7c7831 | 57 | uint32_t length_remap_source_argsi = strlen(this->remap_source_args[i]); |
garyservin | 0:a906bb7c7831 | 58 | memcpy(outbuffer + offset, &length_remap_source_argsi, sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 59 | offset += 4; |
garyservin | 0:a906bb7c7831 | 60 | memcpy(outbuffer + offset, this->remap_source_args[i], length_remap_source_argsi); |
garyservin | 0:a906bb7c7831 | 61 | offset += length_remap_source_argsi; |
garyservin | 0:a906bb7c7831 | 62 | } |
garyservin | 0:a906bb7c7831 | 63 | *(outbuffer + offset++) = remap_target_args_length; |
garyservin | 0:a906bb7c7831 | 64 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 65 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 66 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 67 | for( uint8_t i = 0; i < remap_target_args_length; i++){ |
garyservin | 0:a906bb7c7831 | 68 | uint32_t length_remap_target_argsi = strlen(this->remap_target_args[i]); |
garyservin | 0:a906bb7c7831 | 69 | memcpy(outbuffer + offset, &length_remap_target_argsi, sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 70 | offset += 4; |
garyservin | 0:a906bb7c7831 | 71 | memcpy(outbuffer + offset, this->remap_target_args[i], length_remap_target_argsi); |
garyservin | 0:a906bb7c7831 | 72 | offset += length_remap_target_argsi; |
garyservin | 0:a906bb7c7831 | 73 | } |
garyservin | 0:a906bb7c7831 | 74 | *(outbuffer + offset++) = my_argv_length; |
garyservin | 0:a906bb7c7831 | 75 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 76 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 77 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 78 | for( uint8_t i = 0; i < my_argv_length; i++){ |
garyservin | 0:a906bb7c7831 | 79 | uint32_t length_my_argvi = strlen(this->my_argv[i]); |
garyservin | 0:a906bb7c7831 | 80 | memcpy(outbuffer + offset, &length_my_argvi, sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 81 | offset += 4; |
garyservin | 0:a906bb7c7831 | 82 | memcpy(outbuffer + offset, this->my_argv[i], length_my_argvi); |
garyservin | 0:a906bb7c7831 | 83 | offset += length_my_argvi; |
garyservin | 0:a906bb7c7831 | 84 | } |
garyservin | 0:a906bb7c7831 | 85 | uint32_t length_bond_id = strlen(this->bond_id); |
garyservin | 0:a906bb7c7831 | 86 | memcpy(outbuffer + offset, &length_bond_id, sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 87 | offset += 4; |
garyservin | 0:a906bb7c7831 | 88 | memcpy(outbuffer + offset, this->bond_id, length_bond_id); |
garyservin | 0:a906bb7c7831 | 89 | offset += length_bond_id; |
garyservin | 0:a906bb7c7831 | 90 | return offset; |
garyservin | 0:a906bb7c7831 | 91 | } |
garyservin | 0:a906bb7c7831 | 92 | |
garyservin | 0:a906bb7c7831 | 93 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:a906bb7c7831 | 94 | { |
garyservin | 0:a906bb7c7831 | 95 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 96 | uint32_t length_name; |
garyservin | 0:a906bb7c7831 | 97 | memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 98 | offset += 4; |
garyservin | 0:a906bb7c7831 | 99 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
garyservin | 0:a906bb7c7831 | 100 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:a906bb7c7831 | 101 | } |
garyservin | 0:a906bb7c7831 | 102 | inbuffer[offset+length_name-1]=0; |
garyservin | 0:a906bb7c7831 | 103 | this->name = (char *)(inbuffer + offset-1); |
garyservin | 0:a906bb7c7831 | 104 | offset += length_name; |
garyservin | 0:a906bb7c7831 | 105 | uint32_t length_type; |
garyservin | 0:a906bb7c7831 | 106 | memcpy(&length_type, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 107 | offset += 4; |
garyservin | 0:a906bb7c7831 | 108 | for(unsigned int k= offset; k< offset+length_type; ++k){ |
garyservin | 0:a906bb7c7831 | 109 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:a906bb7c7831 | 110 | } |
garyservin | 0:a906bb7c7831 | 111 | inbuffer[offset+length_type-1]=0; |
garyservin | 0:a906bb7c7831 | 112 | this->type = (char *)(inbuffer + offset-1); |
garyservin | 0:a906bb7c7831 | 113 | offset += length_type; |
garyservin | 0:a906bb7c7831 | 114 | uint8_t remap_source_args_lengthT = *(inbuffer + offset++); |
garyservin | 0:a906bb7c7831 | 115 | if(remap_source_args_lengthT > remap_source_args_length) |
garyservin | 0:a906bb7c7831 | 116 | this->remap_source_args = (char**)realloc(this->remap_source_args, remap_source_args_lengthT * sizeof(char*)); |
garyservin | 0:a906bb7c7831 | 117 | offset += 3; |
garyservin | 0:a906bb7c7831 | 118 | remap_source_args_length = remap_source_args_lengthT; |
garyservin | 0:a906bb7c7831 | 119 | for( uint8_t i = 0; i < remap_source_args_length; i++){ |
garyservin | 0:a906bb7c7831 | 120 | uint32_t length_st_remap_source_args; |
garyservin | 0:a906bb7c7831 | 121 | memcpy(&length_st_remap_source_args, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 122 | offset += 4; |
garyservin | 0:a906bb7c7831 | 123 | for(unsigned int k= offset; k< offset+length_st_remap_source_args; ++k){ |
garyservin | 0:a906bb7c7831 | 124 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:a906bb7c7831 | 125 | } |
garyservin | 0:a906bb7c7831 | 126 | inbuffer[offset+length_st_remap_source_args-1]=0; |
garyservin | 0:a906bb7c7831 | 127 | this->st_remap_source_args = (char *)(inbuffer + offset-1); |
garyservin | 0:a906bb7c7831 | 128 | offset += length_st_remap_source_args; |
garyservin | 0:a906bb7c7831 | 129 | memcpy( &(this->remap_source_args[i]), &(this->st_remap_source_args), sizeof(char*)); |
garyservin | 0:a906bb7c7831 | 130 | } |
garyservin | 0:a906bb7c7831 | 131 | uint8_t remap_target_args_lengthT = *(inbuffer + offset++); |
garyservin | 0:a906bb7c7831 | 132 | if(remap_target_args_lengthT > remap_target_args_length) |
garyservin | 0:a906bb7c7831 | 133 | this->remap_target_args = (char**)realloc(this->remap_target_args, remap_target_args_lengthT * sizeof(char*)); |
garyservin | 0:a906bb7c7831 | 134 | offset += 3; |
garyservin | 0:a906bb7c7831 | 135 | remap_target_args_length = remap_target_args_lengthT; |
garyservin | 0:a906bb7c7831 | 136 | for( uint8_t i = 0; i < remap_target_args_length; i++){ |
garyservin | 0:a906bb7c7831 | 137 | uint32_t length_st_remap_target_args; |
garyservin | 0:a906bb7c7831 | 138 | memcpy(&length_st_remap_target_args, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 139 | offset += 4; |
garyservin | 0:a906bb7c7831 | 140 | for(unsigned int k= offset; k< offset+length_st_remap_target_args; ++k){ |
garyservin | 0:a906bb7c7831 | 141 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:a906bb7c7831 | 142 | } |
garyservin | 0:a906bb7c7831 | 143 | inbuffer[offset+length_st_remap_target_args-1]=0; |
garyservin | 0:a906bb7c7831 | 144 | this->st_remap_target_args = (char *)(inbuffer + offset-1); |
garyservin | 0:a906bb7c7831 | 145 | offset += length_st_remap_target_args; |
garyservin | 0:a906bb7c7831 | 146 | memcpy( &(this->remap_target_args[i]), &(this->st_remap_target_args), sizeof(char*)); |
garyservin | 0:a906bb7c7831 | 147 | } |
garyservin | 0:a906bb7c7831 | 148 | uint8_t my_argv_lengthT = *(inbuffer + offset++); |
garyservin | 0:a906bb7c7831 | 149 | if(my_argv_lengthT > my_argv_length) |
garyservin | 0:a906bb7c7831 | 150 | this->my_argv = (char**)realloc(this->my_argv, my_argv_lengthT * sizeof(char*)); |
garyservin | 0:a906bb7c7831 | 151 | offset += 3; |
garyservin | 0:a906bb7c7831 | 152 | my_argv_length = my_argv_lengthT; |
garyservin | 0:a906bb7c7831 | 153 | for( uint8_t i = 0; i < my_argv_length; i++){ |
garyservin | 0:a906bb7c7831 | 154 | uint32_t length_st_my_argv; |
garyservin | 0:a906bb7c7831 | 155 | memcpy(&length_st_my_argv, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 156 | offset += 4; |
garyservin | 0:a906bb7c7831 | 157 | for(unsigned int k= offset; k< offset+length_st_my_argv; ++k){ |
garyservin | 0:a906bb7c7831 | 158 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:a906bb7c7831 | 159 | } |
garyservin | 0:a906bb7c7831 | 160 | inbuffer[offset+length_st_my_argv-1]=0; |
garyservin | 0:a906bb7c7831 | 161 | this->st_my_argv = (char *)(inbuffer + offset-1); |
garyservin | 0:a906bb7c7831 | 162 | offset += length_st_my_argv; |
garyservin | 0:a906bb7c7831 | 163 | memcpy( &(this->my_argv[i]), &(this->st_my_argv), sizeof(char*)); |
garyservin | 0:a906bb7c7831 | 164 | } |
garyservin | 0:a906bb7c7831 | 165 | uint32_t length_bond_id; |
garyservin | 0:a906bb7c7831 | 166 | memcpy(&length_bond_id, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 167 | offset += 4; |
garyservin | 0:a906bb7c7831 | 168 | for(unsigned int k= offset; k< offset+length_bond_id; ++k){ |
garyservin | 0:a906bb7c7831 | 169 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:a906bb7c7831 | 170 | } |
garyservin | 0:a906bb7c7831 | 171 | inbuffer[offset+length_bond_id-1]=0; |
garyservin | 0:a906bb7c7831 | 172 | this->bond_id = (char *)(inbuffer + offset-1); |
garyservin | 0:a906bb7c7831 | 173 | offset += length_bond_id; |
garyservin | 0:a906bb7c7831 | 174 | return offset; |
garyservin | 0:a906bb7c7831 | 175 | } |
garyservin | 0:a906bb7c7831 | 176 | |
garyservin | 0:a906bb7c7831 | 177 | const char * getType(){ return NODELETLOAD; }; |
garyservin | 0:a906bb7c7831 | 178 | const char * getMD5(){ return "c6e28cc4d2e259249d96cfb50658fbec"; }; |
garyservin | 0:a906bb7c7831 | 179 | |
garyservin | 0:a906bb7c7831 | 180 | }; |
garyservin | 0:a906bb7c7831 | 181 | |
garyservin | 0:a906bb7c7831 | 182 | class NodeletLoadResponse : public ros::Msg |
garyservin | 0:a906bb7c7831 | 183 | { |
garyservin | 0:a906bb7c7831 | 184 | public: |
garyservin | 0:a906bb7c7831 | 185 | bool success; |
garyservin | 0:a906bb7c7831 | 186 | |
garyservin | 0:a906bb7c7831 | 187 | NodeletLoadResponse(): |
garyservin | 0:a906bb7c7831 | 188 | success(0) |
garyservin | 0:a906bb7c7831 | 189 | { |
garyservin | 0:a906bb7c7831 | 190 | } |
garyservin | 0:a906bb7c7831 | 191 | |
garyservin | 0:a906bb7c7831 | 192 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:a906bb7c7831 | 193 | { |
garyservin | 0:a906bb7c7831 | 194 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 195 | union { |
garyservin | 0:a906bb7c7831 | 196 | bool real; |
garyservin | 0:a906bb7c7831 | 197 | uint8_t base; |
garyservin | 0:a906bb7c7831 | 198 | } u_success; |
garyservin | 0:a906bb7c7831 | 199 | u_success.real = this->success; |
garyservin | 0:a906bb7c7831 | 200 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 201 | offset += sizeof(this->success); |
garyservin | 0:a906bb7c7831 | 202 | return offset; |
garyservin | 0:a906bb7c7831 | 203 | } |
garyservin | 0:a906bb7c7831 | 204 | |
garyservin | 0:a906bb7c7831 | 205 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:a906bb7c7831 | 206 | { |
garyservin | 0:a906bb7c7831 | 207 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 208 | union { |
garyservin | 0:a906bb7c7831 | 209 | bool real; |
garyservin | 0:a906bb7c7831 | 210 | uint8_t base; |
garyservin | 0:a906bb7c7831 | 211 | } u_success; |
garyservin | 0:a906bb7c7831 | 212 | u_success.base = 0; |
garyservin | 0:a906bb7c7831 | 213 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 214 | this->success = u_success.real; |
garyservin | 0:a906bb7c7831 | 215 | offset += sizeof(this->success); |
garyservin | 0:a906bb7c7831 | 216 | return offset; |
garyservin | 0:a906bb7c7831 | 217 | } |
garyservin | 0:a906bb7c7831 | 218 | |
garyservin | 0:a906bb7c7831 | 219 | const char * getType(){ return NODELETLOAD; }; |
garyservin | 0:a906bb7c7831 | 220 | const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; }; |
garyservin | 0:a906bb7c7831 | 221 | |
garyservin | 0:a906bb7c7831 | 222 | }; |
garyservin | 0:a906bb7c7831 | 223 | |
garyservin | 0:a906bb7c7831 | 224 | class NodeletLoad { |
garyservin | 0:a906bb7c7831 | 225 | public: |
garyservin | 0:a906bb7c7831 | 226 | typedef NodeletLoadRequest Request; |
garyservin | 0:a906bb7c7831 | 227 | typedef NodeletLoadResponse Response; |
garyservin | 0:a906bb7c7831 | 228 | }; |
garyservin | 0:a906bb7c7831 | 229 | |
garyservin | 0:a906bb7c7831 | 230 | } |
garyservin | 0:a906bb7c7831 | 231 | #endif |