Gary Servin / ros_lib_jade

ROS Serial library for Mbed platforms for ROS Jade Turtle. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

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

Last commit 19 Apr 2016 by Gary Servin

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();
    }
}

visualization_msgs/ImageMarker.h

Committer:
garyservin
Date:
2016-03-31
Revision:
0:a906bb7c7831

File content as of revision 0:a906bb7c7831:

#ifndef _ROS_visualization_msgs_ImageMarker_h
#define _ROS_visualization_msgs_ImageMarker_h

#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "geometry_msgs/Point.h"
#include "std_msgs/ColorRGBA.h"
#include "ros/duration.h"

namespace visualization_msgs
{

  class ImageMarker : public ros::Msg
  {
    public:
      std_msgs::Header header;
      const char* ns;
      int32_t id;
      int32_t type;
      int32_t action;
      geometry_msgs::Point position;
      float scale;
      std_msgs::ColorRGBA outline_color;
      uint8_t filled;
      std_msgs::ColorRGBA fill_color;
      ros::Duration lifetime;
      uint8_t points_length;
      geometry_msgs::Point st_points;
      geometry_msgs::Point * points;
      uint8_t outline_colors_length;
      std_msgs::ColorRGBA st_outline_colors;
      std_msgs::ColorRGBA * outline_colors;
      enum { CIRCLE = 0 };
      enum { LINE_STRIP = 1 };
      enum { LINE_LIST = 2 };
      enum { POLYGON = 3 };
      enum { POINTS = 4 };
      enum { ADD = 0 };
      enum { REMOVE = 1 };

    ImageMarker():
      header(),
      ns(""),
      id(0),
      type(0),
      action(0),
      position(),
      scale(0),
      outline_color(),
      filled(0),
      fill_color(),
      lifetime(),
      points_length(0), points(NULL),
      outline_colors_length(0), outline_colors(NULL)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      offset += this->header.serialize(outbuffer + offset);
      uint32_t length_ns = strlen(this->ns);
      memcpy(outbuffer + offset, &length_ns, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->ns, length_ns);
      offset += length_ns;
      union {
        int32_t real;
        uint32_t base;
      } u_id;
      u_id.real = this->id;
      *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->id);
      union {
        int32_t real;
        uint32_t base;
      } u_type;
      u_type.real = this->type;
      *(outbuffer + offset + 0) = (u_type.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_type.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_type.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_type.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->type);
      union {
        int32_t real;
        uint32_t base;
      } u_action;
      u_action.real = this->action;
      *(outbuffer + offset + 0) = (u_action.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_action.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_action.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_action.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->action);
      offset += this->position.serialize(outbuffer + offset);
      union {
        float real;
        uint32_t base;
      } u_scale;
      u_scale.real = this->scale;
      *(outbuffer + offset + 0) = (u_scale.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_scale.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_scale.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_scale.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->scale);
      offset += this->outline_color.serialize(outbuffer + offset);
      *(outbuffer + offset + 0) = (this->filled >> (8 * 0)) & 0xFF;
      offset += sizeof(this->filled);
      offset += this->fill_color.serialize(outbuffer + offset);
      *(outbuffer + offset + 0) = (this->lifetime.sec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->lifetime.sec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->lifetime.sec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->lifetime.sec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->lifetime.sec);
      *(outbuffer + offset + 0) = (this->lifetime.nsec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->lifetime.nsec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->lifetime.nsec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->lifetime.nsec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->lifetime.nsec);
      *(outbuffer + offset++) = points_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < points_length; i++){
      offset += this->points[i].serialize(outbuffer + offset);
      }
      *(outbuffer + offset++) = outline_colors_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < outline_colors_length; i++){
      offset += this->outline_colors[i].serialize(outbuffer + offset);
      }
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      offset += this->header.deserialize(inbuffer + offset);
      uint32_t length_ns;
      memcpy(&length_ns, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_ns; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_ns-1]=0;
      this->ns = (char *)(inbuffer + offset-1);
      offset += length_ns;
      union {
        int32_t real;
        uint32_t base;
      } u_id;
      u_id.base = 0;
      u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->id = u_id.real;
      offset += sizeof(this->id);
      union {
        int32_t real;
        uint32_t base;
      } u_type;
      u_type.base = 0;
      u_type.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_type.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_type.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_type.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->type = u_type.real;
      offset += sizeof(this->type);
      union {
        int32_t real;
        uint32_t base;
      } u_action;
      u_action.base = 0;
      u_action.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_action.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_action.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_action.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->action = u_action.real;
      offset += sizeof(this->action);
      offset += this->position.deserialize(inbuffer + offset);
      union {
        float real;
        uint32_t base;
      } u_scale;
      u_scale.base = 0;
      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->scale = u_scale.real;
      offset += sizeof(this->scale);
      offset += this->outline_color.deserialize(inbuffer + offset);
      this->filled =  ((uint8_t) (*(inbuffer + offset)));
      offset += sizeof(this->filled);
      offset += this->fill_color.deserialize(inbuffer + offset);
      this->lifetime.sec =  ((uint32_t) (*(inbuffer + offset)));
      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->lifetime.sec);
      this->lifetime.nsec =  ((uint32_t) (*(inbuffer + offset)));
      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->lifetime.nsec);
      uint8_t points_lengthT = *(inbuffer + offset++);
      if(points_lengthT > points_length)
        this->points = (geometry_msgs::Point*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point));
      offset += 3;
      points_length = points_lengthT;
      for( uint8_t i = 0; i < points_length; i++){
      offset += this->st_points.deserialize(inbuffer + offset);
        memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point));
      }
      uint8_t outline_colors_lengthT = *(inbuffer + offset++);
      if(outline_colors_lengthT > outline_colors_length)
        this->outline_colors = (std_msgs::ColorRGBA*)realloc(this->outline_colors, outline_colors_lengthT * sizeof(std_msgs::ColorRGBA));
      offset += 3;
      outline_colors_length = outline_colors_lengthT;
      for( uint8_t i = 0; i < outline_colors_length; i++){
      offset += this->st_outline_colors.deserialize(inbuffer + offset);
        memcpy( &(this->outline_colors[i]), &(this->st_outline_colors), sizeof(std_msgs::ColorRGBA));
      }
     return offset;
    }

    const char * getType(){ return "visualization_msgs/ImageMarker"; };
    const char * getMD5(){ return "1de93c67ec8858b831025a08fbf1b35c"; };

  };

}
#endif