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/InteractiveMarkerControl.h

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

File content as of revision 0:a906bb7c7831:

#ifndef _ROS_visualization_msgs_InteractiveMarkerControl_h
#define _ROS_visualization_msgs_InteractiveMarkerControl_h

#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "geometry_msgs/Quaternion.h"
#include "visualization_msgs/Marker.h"

namespace visualization_msgs
{

  class InteractiveMarkerControl : public ros::Msg
  {
    public:
      const char* name;
      geometry_msgs::Quaternion orientation;
      uint8_t orientation_mode;
      uint8_t interaction_mode;
      bool always_visible;
      uint8_t markers_length;
      visualization_msgs::Marker st_markers;
      visualization_msgs::Marker * markers;
      bool independent_marker_orientation;
      const char* description;
      enum { INHERIT =  0 };
      enum { FIXED =  1 };
      enum { VIEW_FACING =  2 };
      enum { NONE =  0 };
      enum { MENU =  1 };
      enum { BUTTON =  2 };
      enum { MOVE_AXIS =  3 };
      enum { MOVE_PLANE =  4 };
      enum { ROTATE_AXIS =  5 };
      enum { MOVE_ROTATE =  6 };
      enum { MOVE_3D =  7 };
      enum { ROTATE_3D =  8 };
      enum { MOVE_ROTATE_3D =  9 };

    InteractiveMarkerControl():
      name(""),
      orientation(),
      orientation_mode(0),
      interaction_mode(0),
      always_visible(0),
      markers_length(0), markers(NULL),
      independent_marker_orientation(0),
      description("")
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      uint32_t length_name = strlen(this->name);
      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->name, length_name);
      offset += length_name;
      offset += this->orientation.serialize(outbuffer + offset);
      *(outbuffer + offset + 0) = (this->orientation_mode >> (8 * 0)) & 0xFF;
      offset += sizeof(this->orientation_mode);
      *(outbuffer + offset + 0) = (this->interaction_mode >> (8 * 0)) & 0xFF;
      offset += sizeof(this->interaction_mode);
      union {
        bool real;
        uint8_t base;
      } u_always_visible;
      u_always_visible.real = this->always_visible;
      *(outbuffer + offset + 0) = (u_always_visible.base >> (8 * 0)) & 0xFF;
      offset += sizeof(this->always_visible);
      *(outbuffer + offset++) = markers_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < markers_length; i++){
      offset += this->markers[i].serialize(outbuffer + offset);
      }
      union {
        bool real;
        uint8_t base;
      } u_independent_marker_orientation;
      u_independent_marker_orientation.real = this->independent_marker_orientation;
      *(outbuffer + offset + 0) = (u_independent_marker_orientation.base >> (8 * 0)) & 0xFF;
      offset += sizeof(this->independent_marker_orientation);
      uint32_t length_description = strlen(this->description);
      memcpy(outbuffer + offset, &length_description, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->description, length_description);
      offset += length_description;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t length_name;
      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_name; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_name-1]=0;
      this->name = (char *)(inbuffer + offset-1);
      offset += length_name;
      offset += this->orientation.deserialize(inbuffer + offset);
      this->orientation_mode =  ((uint8_t) (*(inbuffer + offset)));
      offset += sizeof(this->orientation_mode);
      this->interaction_mode =  ((uint8_t) (*(inbuffer + offset)));
      offset += sizeof(this->interaction_mode);
      union {
        bool real;
        uint8_t base;
      } u_always_visible;
      u_always_visible.base = 0;
      u_always_visible.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
      this->always_visible = u_always_visible.real;
      offset += sizeof(this->always_visible);
      uint8_t markers_lengthT = *(inbuffer + offset++);
      if(markers_lengthT > markers_length)
        this->markers = (visualization_msgs::Marker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::Marker));
      offset += 3;
      markers_length = markers_lengthT;
      for( uint8_t i = 0; i < markers_length; i++){
      offset += this->st_markers.deserialize(inbuffer + offset);
        memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::Marker));
      }
      union {
        bool real;
        uint8_t base;
      } u_independent_marker_orientation;
      u_independent_marker_orientation.base = 0;
      u_independent_marker_orientation.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
      this->independent_marker_orientation = u_independent_marker_orientation.real;
      offset += sizeof(this->independent_marker_orientation);
      uint32_t length_description;
      memcpy(&length_description, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_description; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_description-1]=0;
      this->description = (char *)(inbuffer + offset-1);
      offset += length_description;
     return offset;
    }

    const char * getType(){ return "visualization_msgs/InteractiveMarkerControl"; };
    const char * getMD5(){ return "b3c81e785788195d1840b86c28da1aac"; };

  };

}
#endif