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(); } }
rosgraph_msgs/Log.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_rosgraph_msgs_Log_h |
garyservin | 0:a906bb7c7831 | 2 | #define _ROS_rosgraph_msgs_Log_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 | #include "std_msgs/Header.h" |
garyservin | 0:a906bb7c7831 | 9 | |
garyservin | 0:a906bb7c7831 | 10 | namespace rosgraph_msgs |
garyservin | 0:a906bb7c7831 | 11 | { |
garyservin | 0:a906bb7c7831 | 12 | |
garyservin | 0:a906bb7c7831 | 13 | class Log : public ros::Msg |
garyservin | 0:a906bb7c7831 | 14 | { |
garyservin | 0:a906bb7c7831 | 15 | public: |
garyservin | 0:a906bb7c7831 | 16 | std_msgs::Header header; |
garyservin | 0:a906bb7c7831 | 17 | int8_t level; |
garyservin | 0:a906bb7c7831 | 18 | const char* name; |
garyservin | 0:a906bb7c7831 | 19 | const char* msg; |
garyservin | 0:a906bb7c7831 | 20 | const char* file; |
garyservin | 0:a906bb7c7831 | 21 | const char* function; |
garyservin | 0:a906bb7c7831 | 22 | uint32_t line; |
garyservin | 0:a906bb7c7831 | 23 | uint8_t topics_length; |
garyservin | 0:a906bb7c7831 | 24 | char* st_topics; |
garyservin | 0:a906bb7c7831 | 25 | char* * topics; |
garyservin | 0:a906bb7c7831 | 26 | enum { DEBUG = 1 }; |
garyservin | 0:a906bb7c7831 | 27 | enum { INFO = 2 }; |
garyservin | 0:a906bb7c7831 | 28 | enum { WARN = 4 }; |
garyservin | 0:a906bb7c7831 | 29 | enum { ERROR = 8 }; |
garyservin | 0:a906bb7c7831 | 30 | enum { FATAL = 16 }; |
garyservin | 0:a906bb7c7831 | 31 | |
garyservin | 0:a906bb7c7831 | 32 | Log(): |
garyservin | 0:a906bb7c7831 | 33 | header(), |
garyservin | 0:a906bb7c7831 | 34 | level(0), |
garyservin | 0:a906bb7c7831 | 35 | name(""), |
garyservin | 0:a906bb7c7831 | 36 | msg(""), |
garyservin | 0:a906bb7c7831 | 37 | file(""), |
garyservin | 0:a906bb7c7831 | 38 | function(""), |
garyservin | 0:a906bb7c7831 | 39 | line(0), |
garyservin | 0:a906bb7c7831 | 40 | topics_length(0), topics(NULL) |
garyservin | 0:a906bb7c7831 | 41 | { |
garyservin | 0:a906bb7c7831 | 42 | } |
garyservin | 0:a906bb7c7831 | 43 | |
garyservin | 0:a906bb7c7831 | 44 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:a906bb7c7831 | 45 | { |
garyservin | 0:a906bb7c7831 | 46 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 47 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:a906bb7c7831 | 48 | union { |
garyservin | 0:a906bb7c7831 | 49 | int8_t real; |
garyservin | 0:a906bb7c7831 | 50 | uint8_t base; |
garyservin | 0:a906bb7c7831 | 51 | } u_level; |
garyservin | 0:a906bb7c7831 | 52 | u_level.real = this->level; |
garyservin | 0:a906bb7c7831 | 53 | *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 54 | offset += sizeof(this->level); |
garyservin | 0:a906bb7c7831 | 55 | uint32_t length_name = strlen(this->name); |
garyservin | 0:a906bb7c7831 | 56 | memcpy(outbuffer + offset, &length_name, sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 57 | offset += 4; |
garyservin | 0:a906bb7c7831 | 58 | memcpy(outbuffer + offset, this->name, length_name); |
garyservin | 0:a906bb7c7831 | 59 | offset += length_name; |
garyservin | 0:a906bb7c7831 | 60 | uint32_t length_msg = strlen(this->msg); |
garyservin | 0:a906bb7c7831 | 61 | memcpy(outbuffer + offset, &length_msg, sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 62 | offset += 4; |
garyservin | 0:a906bb7c7831 | 63 | memcpy(outbuffer + offset, this->msg, length_msg); |
garyservin | 0:a906bb7c7831 | 64 | offset += length_msg; |
garyservin | 0:a906bb7c7831 | 65 | uint32_t length_file = strlen(this->file); |
garyservin | 0:a906bb7c7831 | 66 | memcpy(outbuffer + offset, &length_file, sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 67 | offset += 4; |
garyservin | 0:a906bb7c7831 | 68 | memcpy(outbuffer + offset, this->file, length_file); |
garyservin | 0:a906bb7c7831 | 69 | offset += length_file; |
garyservin | 0:a906bb7c7831 | 70 | uint32_t length_function = strlen(this->function); |
garyservin | 0:a906bb7c7831 | 71 | memcpy(outbuffer + offset, &length_function, sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 72 | offset += 4; |
garyservin | 0:a906bb7c7831 | 73 | memcpy(outbuffer + offset, this->function, length_function); |
garyservin | 0:a906bb7c7831 | 74 | offset += length_function; |
garyservin | 0:a906bb7c7831 | 75 | *(outbuffer + offset + 0) = (this->line >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 76 | *(outbuffer + offset + 1) = (this->line >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 77 | *(outbuffer + offset + 2) = (this->line >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 78 | *(outbuffer + offset + 3) = (this->line >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 79 | offset += sizeof(this->line); |
garyservin | 0:a906bb7c7831 | 80 | *(outbuffer + offset++) = topics_length; |
garyservin | 0:a906bb7c7831 | 81 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 82 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 83 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 84 | for( uint8_t i = 0; i < topics_length; i++){ |
garyservin | 0:a906bb7c7831 | 85 | uint32_t length_topicsi = strlen(this->topics[i]); |
garyservin | 0:a906bb7c7831 | 86 | memcpy(outbuffer + offset, &length_topicsi, sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 87 | offset += 4; |
garyservin | 0:a906bb7c7831 | 88 | memcpy(outbuffer + offset, this->topics[i], length_topicsi); |
garyservin | 0:a906bb7c7831 | 89 | offset += length_topicsi; |
garyservin | 0:a906bb7c7831 | 90 | } |
garyservin | 0:a906bb7c7831 | 91 | return offset; |
garyservin | 0:a906bb7c7831 | 92 | } |
garyservin | 0:a906bb7c7831 | 93 | |
garyservin | 0:a906bb7c7831 | 94 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:a906bb7c7831 | 95 | { |
garyservin | 0:a906bb7c7831 | 96 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 97 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:a906bb7c7831 | 98 | union { |
garyservin | 0:a906bb7c7831 | 99 | int8_t real; |
garyservin | 0:a906bb7c7831 | 100 | uint8_t base; |
garyservin | 0:a906bb7c7831 | 101 | } u_level; |
garyservin | 0:a906bb7c7831 | 102 | u_level.base = 0; |
garyservin | 0:a906bb7c7831 | 103 | u_level.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 104 | this->level = u_level.real; |
garyservin | 0:a906bb7c7831 | 105 | offset += sizeof(this->level); |
garyservin | 0:a906bb7c7831 | 106 | uint32_t length_name; |
garyservin | 0:a906bb7c7831 | 107 | memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 108 | offset += 4; |
garyservin | 0:a906bb7c7831 | 109 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
garyservin | 0:a906bb7c7831 | 110 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:a906bb7c7831 | 111 | } |
garyservin | 0:a906bb7c7831 | 112 | inbuffer[offset+length_name-1]=0; |
garyservin | 0:a906bb7c7831 | 113 | this->name = (char *)(inbuffer + offset-1); |
garyservin | 0:a906bb7c7831 | 114 | offset += length_name; |
garyservin | 0:a906bb7c7831 | 115 | uint32_t length_msg; |
garyservin | 0:a906bb7c7831 | 116 | memcpy(&length_msg, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 117 | offset += 4; |
garyservin | 0:a906bb7c7831 | 118 | for(unsigned int k= offset; k< offset+length_msg; ++k){ |
garyservin | 0:a906bb7c7831 | 119 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:a906bb7c7831 | 120 | } |
garyservin | 0:a906bb7c7831 | 121 | inbuffer[offset+length_msg-1]=0; |
garyservin | 0:a906bb7c7831 | 122 | this->msg = (char *)(inbuffer + offset-1); |
garyservin | 0:a906bb7c7831 | 123 | offset += length_msg; |
garyservin | 0:a906bb7c7831 | 124 | uint32_t length_file; |
garyservin | 0:a906bb7c7831 | 125 | memcpy(&length_file, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 126 | offset += 4; |
garyservin | 0:a906bb7c7831 | 127 | for(unsigned int k= offset; k< offset+length_file; ++k){ |
garyservin | 0:a906bb7c7831 | 128 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:a906bb7c7831 | 129 | } |
garyservin | 0:a906bb7c7831 | 130 | inbuffer[offset+length_file-1]=0; |
garyservin | 0:a906bb7c7831 | 131 | this->file = (char *)(inbuffer + offset-1); |
garyservin | 0:a906bb7c7831 | 132 | offset += length_file; |
garyservin | 0:a906bb7c7831 | 133 | uint32_t length_function; |
garyservin | 0:a906bb7c7831 | 134 | memcpy(&length_function, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 135 | offset += 4; |
garyservin | 0:a906bb7c7831 | 136 | for(unsigned int k= offset; k< offset+length_function; ++k){ |
garyservin | 0:a906bb7c7831 | 137 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:a906bb7c7831 | 138 | } |
garyservin | 0:a906bb7c7831 | 139 | inbuffer[offset+length_function-1]=0; |
garyservin | 0:a906bb7c7831 | 140 | this->function = (char *)(inbuffer + offset-1); |
garyservin | 0:a906bb7c7831 | 141 | offset += length_function; |
garyservin | 0:a906bb7c7831 | 142 | this->line = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:a906bb7c7831 | 143 | this->line |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 144 | this->line |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 145 | this->line |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 146 | offset += sizeof(this->line); |
garyservin | 0:a906bb7c7831 | 147 | uint8_t topics_lengthT = *(inbuffer + offset++); |
garyservin | 0:a906bb7c7831 | 148 | if(topics_lengthT > topics_length) |
garyservin | 0:a906bb7c7831 | 149 | this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*)); |
garyservin | 0:a906bb7c7831 | 150 | offset += 3; |
garyservin | 0:a906bb7c7831 | 151 | topics_length = topics_lengthT; |
garyservin | 0:a906bb7c7831 | 152 | for( uint8_t i = 0; i < topics_length; i++){ |
garyservin | 0:a906bb7c7831 | 153 | uint32_t length_st_topics; |
garyservin | 0:a906bb7c7831 | 154 | memcpy(&length_st_topics, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 155 | offset += 4; |
garyservin | 0:a906bb7c7831 | 156 | for(unsigned int k= offset; k< offset+length_st_topics; ++k){ |
garyservin | 0:a906bb7c7831 | 157 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:a906bb7c7831 | 158 | } |
garyservin | 0:a906bb7c7831 | 159 | inbuffer[offset+length_st_topics-1]=0; |
garyservin | 0:a906bb7c7831 | 160 | this->st_topics = (char *)(inbuffer + offset-1); |
garyservin | 0:a906bb7c7831 | 161 | offset += length_st_topics; |
garyservin | 0:a906bb7c7831 | 162 | memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*)); |
garyservin | 0:a906bb7c7831 | 163 | } |
garyservin | 0:a906bb7c7831 | 164 | return offset; |
garyservin | 0:a906bb7c7831 | 165 | } |
garyservin | 0:a906bb7c7831 | 166 | |
garyservin | 0:a906bb7c7831 | 167 | const char * getType(){ return "rosgraph_msgs/Log"; }; |
garyservin | 0:a906bb7c7831 | 168 | const char * getMD5(){ return "acffd30cd6b6de30f120938c17c593fb"; }; |
garyservin | 0:a906bb7c7831 | 169 | |
garyservin | 0:a906bb7c7831 | 170 | }; |
garyservin | 0:a906bb7c7831 | 171 | |
garyservin | 0:a906bb7c7831 | 172 | } |
garyservin | 0:a906bb7c7831 | 173 | #endif |