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/NodeletUnload.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_NodeletUnload_h |
garyservin | 0:a906bb7c7831 | 2 | #define _ROS_SERVICE_NodeletUnload_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 NODELETUNLOAD[] = "nodelet/NodeletUnload"; |
garyservin | 0:a906bb7c7831 | 12 | |
garyservin | 0:a906bb7c7831 | 13 | class NodeletUnloadRequest : public ros::Msg |
garyservin | 0:a906bb7c7831 | 14 | { |
garyservin | 0:a906bb7c7831 | 15 | public: |
garyservin | 0:a906bb7c7831 | 16 | const char* name; |
garyservin | 0:a906bb7c7831 | 17 | |
garyservin | 0:a906bb7c7831 | 18 | NodeletUnloadRequest(): |
garyservin | 0:a906bb7c7831 | 19 | name("") |
garyservin | 0:a906bb7c7831 | 20 | { |
garyservin | 0:a906bb7c7831 | 21 | } |
garyservin | 0:a906bb7c7831 | 22 | |
garyservin | 0:a906bb7c7831 | 23 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:a906bb7c7831 | 24 | { |
garyservin | 0:a906bb7c7831 | 25 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 26 | uint32_t length_name = strlen(this->name); |
garyservin | 0:a906bb7c7831 | 27 | memcpy(outbuffer + offset, &length_name, sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 28 | offset += 4; |
garyservin | 0:a906bb7c7831 | 29 | memcpy(outbuffer + offset, this->name, length_name); |
garyservin | 0:a906bb7c7831 | 30 | offset += length_name; |
garyservin | 0:a906bb7c7831 | 31 | return offset; |
garyservin | 0:a906bb7c7831 | 32 | } |
garyservin | 0:a906bb7c7831 | 33 | |
garyservin | 0:a906bb7c7831 | 34 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:a906bb7c7831 | 35 | { |
garyservin | 0:a906bb7c7831 | 36 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 37 | uint32_t length_name; |
garyservin | 0:a906bb7c7831 | 38 | memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 39 | offset += 4; |
garyservin | 0:a906bb7c7831 | 40 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
garyservin | 0:a906bb7c7831 | 41 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:a906bb7c7831 | 42 | } |
garyservin | 0:a906bb7c7831 | 43 | inbuffer[offset+length_name-1]=0; |
garyservin | 0:a906bb7c7831 | 44 | this->name = (char *)(inbuffer + offset-1); |
garyservin | 0:a906bb7c7831 | 45 | offset += length_name; |
garyservin | 0:a906bb7c7831 | 46 | return offset; |
garyservin | 0:a906bb7c7831 | 47 | } |
garyservin | 0:a906bb7c7831 | 48 | |
garyservin | 0:a906bb7c7831 | 49 | const char * getType(){ return NODELETUNLOAD; }; |
garyservin | 0:a906bb7c7831 | 50 | const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; }; |
garyservin | 0:a906bb7c7831 | 51 | |
garyservin | 0:a906bb7c7831 | 52 | }; |
garyservin | 0:a906bb7c7831 | 53 | |
garyservin | 0:a906bb7c7831 | 54 | class NodeletUnloadResponse : public ros::Msg |
garyservin | 0:a906bb7c7831 | 55 | { |
garyservin | 0:a906bb7c7831 | 56 | public: |
garyservin | 0:a906bb7c7831 | 57 | bool success; |
garyservin | 0:a906bb7c7831 | 58 | |
garyservin | 0:a906bb7c7831 | 59 | NodeletUnloadResponse(): |
garyservin | 0:a906bb7c7831 | 60 | success(0) |
garyservin | 0:a906bb7c7831 | 61 | { |
garyservin | 0:a906bb7c7831 | 62 | } |
garyservin | 0:a906bb7c7831 | 63 | |
garyservin | 0:a906bb7c7831 | 64 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:a906bb7c7831 | 65 | { |
garyservin | 0:a906bb7c7831 | 66 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 67 | union { |
garyservin | 0:a906bb7c7831 | 68 | bool real; |
garyservin | 0:a906bb7c7831 | 69 | uint8_t base; |
garyservin | 0:a906bb7c7831 | 70 | } u_success; |
garyservin | 0:a906bb7c7831 | 71 | u_success.real = this->success; |
garyservin | 0:a906bb7c7831 | 72 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 73 | offset += sizeof(this->success); |
garyservin | 0:a906bb7c7831 | 74 | return offset; |
garyservin | 0:a906bb7c7831 | 75 | } |
garyservin | 0:a906bb7c7831 | 76 | |
garyservin | 0:a906bb7c7831 | 77 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:a906bb7c7831 | 78 | { |
garyservin | 0:a906bb7c7831 | 79 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 80 | union { |
garyservin | 0:a906bb7c7831 | 81 | bool real; |
garyservin | 0:a906bb7c7831 | 82 | uint8_t base; |
garyservin | 0:a906bb7c7831 | 83 | } u_success; |
garyservin | 0:a906bb7c7831 | 84 | u_success.base = 0; |
garyservin | 0:a906bb7c7831 | 85 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 86 | this->success = u_success.real; |
garyservin | 0:a906bb7c7831 | 87 | offset += sizeof(this->success); |
garyservin | 0:a906bb7c7831 | 88 | return offset; |
garyservin | 0:a906bb7c7831 | 89 | } |
garyservin | 0:a906bb7c7831 | 90 | |
garyservin | 0:a906bb7c7831 | 91 | const char * getType(){ return NODELETUNLOAD; }; |
garyservin | 0:a906bb7c7831 | 92 | const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; }; |
garyservin | 0:a906bb7c7831 | 93 | |
garyservin | 0:a906bb7c7831 | 94 | }; |
garyservin | 0:a906bb7c7831 | 95 | |
garyservin | 0:a906bb7c7831 | 96 | class NodeletUnload { |
garyservin | 0:a906bb7c7831 | 97 | public: |
garyservin | 0:a906bb7c7831 | 98 | typedef NodeletUnloadRequest Request; |
garyservin | 0:a906bb7c7831 | 99 | typedef NodeletUnloadResponse Response; |
garyservin | 0:a906bb7c7831 | 100 | }; |
garyservin | 0:a906bb7c7831 | 101 | |
garyservin | 0:a906bb7c7831 | 102 | } |
garyservin | 0:a906bb7c7831 | 103 | #endif |