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(); } }
gazebo_msgs/ODEPhysics.h
- Committer:
- garyservin
- Date:
- 2016-03-31
- Revision:
- 0:a906bb7c7831
File content as of revision 0:a906bb7c7831:
#ifndef _ROS_gazebo_msgs_ODEPhysics_h #define _ROS_gazebo_msgs_ODEPhysics_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace gazebo_msgs { class ODEPhysics : public ros::Msg { public: bool auto_disable_bodies; uint32_t sor_pgs_precon_iters; uint32_t sor_pgs_iters; double sor_pgs_w; double sor_pgs_rms_error_tol; double contact_surface_layer; double contact_max_correcting_vel; double cfm; double erp; uint32_t max_contacts; ODEPhysics(): auto_disable_bodies(0), sor_pgs_precon_iters(0), sor_pgs_iters(0), sor_pgs_w(0), sor_pgs_rms_error_tol(0), contact_surface_layer(0), contact_max_correcting_vel(0), cfm(0), erp(0), max_contacts(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; union { bool real; uint8_t base; } u_auto_disable_bodies; u_auto_disable_bodies.real = this->auto_disable_bodies; *(outbuffer + offset + 0) = (u_auto_disable_bodies.base >> (8 * 0)) & 0xFF; offset += sizeof(this->auto_disable_bodies); *(outbuffer + offset + 0) = (this->sor_pgs_precon_iters >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->sor_pgs_precon_iters >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->sor_pgs_precon_iters >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->sor_pgs_precon_iters >> (8 * 3)) & 0xFF; offset += sizeof(this->sor_pgs_precon_iters); *(outbuffer + offset + 0) = (this->sor_pgs_iters >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->sor_pgs_iters >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->sor_pgs_iters >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->sor_pgs_iters >> (8 * 3)) & 0xFF; offset += sizeof(this->sor_pgs_iters); union { double real; uint64_t base; } u_sor_pgs_w; u_sor_pgs_w.real = this->sor_pgs_w; *(outbuffer + offset + 0) = (u_sor_pgs_w.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_sor_pgs_w.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_sor_pgs_w.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_sor_pgs_w.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_sor_pgs_w.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_sor_pgs_w.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_sor_pgs_w.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_sor_pgs_w.base >> (8 * 7)) & 0xFF; offset += sizeof(this->sor_pgs_w); union { double real; uint64_t base; } u_sor_pgs_rms_error_tol; u_sor_pgs_rms_error_tol.real = this->sor_pgs_rms_error_tol; *(outbuffer + offset + 0) = (u_sor_pgs_rms_error_tol.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_sor_pgs_rms_error_tol.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_sor_pgs_rms_error_tol.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_sor_pgs_rms_error_tol.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_sor_pgs_rms_error_tol.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_sor_pgs_rms_error_tol.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_sor_pgs_rms_error_tol.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_sor_pgs_rms_error_tol.base >> (8 * 7)) & 0xFF; offset += sizeof(this->sor_pgs_rms_error_tol); union { double real; uint64_t base; } u_contact_surface_layer; u_contact_surface_layer.real = this->contact_surface_layer; *(outbuffer + offset + 0) = (u_contact_surface_layer.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_contact_surface_layer.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_contact_surface_layer.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_contact_surface_layer.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_contact_surface_layer.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_contact_surface_layer.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_contact_surface_layer.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_contact_surface_layer.base >> (8 * 7)) & 0xFF; offset += sizeof(this->contact_surface_layer); union { double real; uint64_t base; } u_contact_max_correcting_vel; u_contact_max_correcting_vel.real = this->contact_max_correcting_vel; *(outbuffer + offset + 0) = (u_contact_max_correcting_vel.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_contact_max_correcting_vel.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_contact_max_correcting_vel.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_contact_max_correcting_vel.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_contact_max_correcting_vel.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_contact_max_correcting_vel.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_contact_max_correcting_vel.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_contact_max_correcting_vel.base >> (8 * 7)) & 0xFF; offset += sizeof(this->contact_max_correcting_vel); union { double real; uint64_t base; } u_cfm; u_cfm.real = this->cfm; *(outbuffer + offset + 0) = (u_cfm.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_cfm.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_cfm.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_cfm.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_cfm.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_cfm.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_cfm.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_cfm.base >> (8 * 7)) & 0xFF; offset += sizeof(this->cfm); union { double real; uint64_t base; } u_erp; u_erp.real = this->erp; *(outbuffer + offset + 0) = (u_erp.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_erp.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_erp.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_erp.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_erp.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_erp.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_erp.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_erp.base >> (8 * 7)) & 0xFF; offset += sizeof(this->erp); *(outbuffer + offset + 0) = (this->max_contacts >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->max_contacts >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->max_contacts >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->max_contacts >> (8 * 3)) & 0xFF; offset += sizeof(this->max_contacts); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; union { bool real; uint8_t base; } u_auto_disable_bodies; u_auto_disable_bodies.base = 0; u_auto_disable_bodies.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); this->auto_disable_bodies = u_auto_disable_bodies.real; offset += sizeof(this->auto_disable_bodies); this->sor_pgs_precon_iters = ((uint32_t) (*(inbuffer + offset))); this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->sor_pgs_precon_iters); this->sor_pgs_iters = ((uint32_t) (*(inbuffer + offset))); this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->sor_pgs_iters); union { double real; uint64_t base; } u_sor_pgs_w; u_sor_pgs_w.base = 0; u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->sor_pgs_w = u_sor_pgs_w.real; offset += sizeof(this->sor_pgs_w); union { double real; uint64_t base; } u_sor_pgs_rms_error_tol; u_sor_pgs_rms_error_tol.base = 0; u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->sor_pgs_rms_error_tol = u_sor_pgs_rms_error_tol.real; offset += sizeof(this->sor_pgs_rms_error_tol); union { double real; uint64_t base; } u_contact_surface_layer; u_contact_surface_layer.base = 0; u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->contact_surface_layer = u_contact_surface_layer.real; offset += sizeof(this->contact_surface_layer); union { double real; uint64_t base; } u_contact_max_correcting_vel; u_contact_max_correcting_vel.base = 0; u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->contact_max_correcting_vel = u_contact_max_correcting_vel.real; offset += sizeof(this->contact_max_correcting_vel); union { double real; uint64_t base; } u_cfm; u_cfm.base = 0; u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->cfm = u_cfm.real; offset += sizeof(this->cfm); union { double real; uint64_t base; } u_erp; u_erp.base = 0; u_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->erp = u_erp.real; offset += sizeof(this->erp); this->max_contacts = ((uint32_t) (*(inbuffer + offset))); this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->max_contacts); return offset; } const char * getType(){ return "gazebo_msgs/ODEPhysics"; }; const char * getMD5(){ return "667d56ddbd547918c32d1934503dc335"; }; }; } #endif