ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: rosserial_mbed_hello_world_publisher_kinetic s-rov-firmware ROS_HCSR04 DISCO-F469NI_LCDTS_demo ... more
ROSSerial_mbed for Kinetic 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_kinetic
rosserial_mbed Hello World example for Kinetic Kame 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(); } }
ros/subscriber.h@1:a849bf78d77f, 2016-12-31 (annotated)
- Committer:
- garyservin
- Date:
- Sat Dec 31 00:59:58 2016 +0000
- Revision:
- 1:a849bf78d77f
- Parent:
- 0:9e9b7db60fd5
Add missing round() method
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | /* |
garyservin | 0:9e9b7db60fd5 | 2 | * Software License Agreement (BSD License) |
garyservin | 0:9e9b7db60fd5 | 3 | * |
garyservin | 0:9e9b7db60fd5 | 4 | * Copyright (c) 2011, Willow Garage, Inc. |
garyservin | 0:9e9b7db60fd5 | 5 | * All rights reserved. |
garyservin | 0:9e9b7db60fd5 | 6 | * |
garyservin | 0:9e9b7db60fd5 | 7 | * Redistribution and use in source and binary forms, with or without |
garyservin | 0:9e9b7db60fd5 | 8 | * modification, are permitted provided that the following conditions |
garyservin | 0:9e9b7db60fd5 | 9 | * are met: |
garyservin | 0:9e9b7db60fd5 | 10 | * |
garyservin | 0:9e9b7db60fd5 | 11 | * * Redistributions of source code must retain the above copyright |
garyservin | 0:9e9b7db60fd5 | 12 | * notice, this list of conditions and the following disclaimer. |
garyservin | 0:9e9b7db60fd5 | 13 | * * Redistributions in binary form must reproduce the above |
garyservin | 0:9e9b7db60fd5 | 14 | * copyright notice, this list of conditions and the following |
garyservin | 0:9e9b7db60fd5 | 15 | * disclaimer in the documentation and/or other materials provided |
garyservin | 0:9e9b7db60fd5 | 16 | * with the distribution. |
garyservin | 0:9e9b7db60fd5 | 17 | * * Neither the name of Willow Garage, Inc. nor the names of its |
garyservin | 0:9e9b7db60fd5 | 18 | * contributors may be used to endorse or promote prducts derived |
garyservin | 0:9e9b7db60fd5 | 19 | * from this software without specific prior written permission. |
garyservin | 0:9e9b7db60fd5 | 20 | * |
garyservin | 0:9e9b7db60fd5 | 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
garyservin | 0:9e9b7db60fd5 | 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
garyservin | 0:9e9b7db60fd5 | 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
garyservin | 0:9e9b7db60fd5 | 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
garyservin | 0:9e9b7db60fd5 | 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
garyservin | 0:9e9b7db60fd5 | 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
garyservin | 0:9e9b7db60fd5 | 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
garyservin | 0:9e9b7db60fd5 | 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
garyservin | 0:9e9b7db60fd5 | 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
garyservin | 0:9e9b7db60fd5 | 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
garyservin | 0:9e9b7db60fd5 | 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
garyservin | 0:9e9b7db60fd5 | 32 | * POSSIBILITY OF SUCH DAMAGE. |
garyservin | 0:9e9b7db60fd5 | 33 | */ |
garyservin | 0:9e9b7db60fd5 | 34 | |
garyservin | 0:9e9b7db60fd5 | 35 | #ifndef ROS_SUBSCRIBER_H_ |
garyservin | 0:9e9b7db60fd5 | 36 | #define ROS_SUBSCRIBER_H_ |
garyservin | 0:9e9b7db60fd5 | 37 | |
garyservin | 0:9e9b7db60fd5 | 38 | #include "rosserial_msgs/TopicInfo.h" |
garyservin | 0:9e9b7db60fd5 | 39 | |
garyservin | 0:9e9b7db60fd5 | 40 | namespace ros { |
garyservin | 0:9e9b7db60fd5 | 41 | |
garyservin | 0:9e9b7db60fd5 | 42 | /* Base class for objects subscribers. */ |
garyservin | 0:9e9b7db60fd5 | 43 | class Subscriber_ |
garyservin | 0:9e9b7db60fd5 | 44 | { |
garyservin | 0:9e9b7db60fd5 | 45 | public: |
garyservin | 0:9e9b7db60fd5 | 46 | virtual void callback(unsigned char *data)=0; |
garyservin | 0:9e9b7db60fd5 | 47 | virtual int getEndpointType()=0; |
garyservin | 0:9e9b7db60fd5 | 48 | |
garyservin | 0:9e9b7db60fd5 | 49 | // id_ is set by NodeHandle when we advertise |
garyservin | 0:9e9b7db60fd5 | 50 | int id_; |
garyservin | 0:9e9b7db60fd5 | 51 | |
garyservin | 0:9e9b7db60fd5 | 52 | virtual const char * getMsgType()=0; |
garyservin | 0:9e9b7db60fd5 | 53 | virtual const char * getMsgMD5()=0; |
garyservin | 0:9e9b7db60fd5 | 54 | const char * topic_; |
garyservin | 0:9e9b7db60fd5 | 55 | }; |
garyservin | 0:9e9b7db60fd5 | 56 | |
garyservin | 0:9e9b7db60fd5 | 57 | /* Bound function subscriber. */ |
garyservin | 0:9e9b7db60fd5 | 58 | template<typename MsgT, typename ObjT=void> |
garyservin | 0:9e9b7db60fd5 | 59 | class Subscriber: public Subscriber_ |
garyservin | 0:9e9b7db60fd5 | 60 | { |
garyservin | 0:9e9b7db60fd5 | 61 | public: |
garyservin | 0:9e9b7db60fd5 | 62 | typedef void(ObjT::*CallbackT)(const MsgT&); |
garyservin | 0:9e9b7db60fd5 | 63 | MsgT msg; |
garyservin | 0:9e9b7db60fd5 | 64 | |
garyservin | 0:9e9b7db60fd5 | 65 | Subscriber(const char * topic_name, CallbackT cb, ObjT* obj, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) : |
garyservin | 0:9e9b7db60fd5 | 66 | cb_(cb), |
garyservin | 0:9e9b7db60fd5 | 67 | obj_(obj), |
garyservin | 0:9e9b7db60fd5 | 68 | endpoint_(endpoint) |
garyservin | 0:9e9b7db60fd5 | 69 | { |
garyservin | 0:9e9b7db60fd5 | 70 | topic_ = topic_name; |
garyservin | 0:9e9b7db60fd5 | 71 | }; |
garyservin | 0:9e9b7db60fd5 | 72 | |
garyservin | 0:9e9b7db60fd5 | 73 | virtual void callback(unsigned char* data) |
garyservin | 0:9e9b7db60fd5 | 74 | { |
garyservin | 0:9e9b7db60fd5 | 75 | msg.deserialize(data); |
garyservin | 0:9e9b7db60fd5 | 76 | (obj_->*cb_)(msg); |
garyservin | 0:9e9b7db60fd5 | 77 | } |
garyservin | 0:9e9b7db60fd5 | 78 | |
garyservin | 0:9e9b7db60fd5 | 79 | virtual const char * getMsgType() { return this->msg.getType(); } |
garyservin | 0:9e9b7db60fd5 | 80 | virtual const char * getMsgMD5() { return this->msg.getMD5(); } |
garyservin | 0:9e9b7db60fd5 | 81 | virtual int getEndpointType() { return endpoint_; } |
garyservin | 0:9e9b7db60fd5 | 82 | |
garyservin | 0:9e9b7db60fd5 | 83 | private: |
garyservin | 0:9e9b7db60fd5 | 84 | CallbackT cb_; |
garyservin | 0:9e9b7db60fd5 | 85 | ObjT* obj_; |
garyservin | 0:9e9b7db60fd5 | 86 | int endpoint_; |
garyservin | 0:9e9b7db60fd5 | 87 | }; |
garyservin | 0:9e9b7db60fd5 | 88 | |
garyservin | 0:9e9b7db60fd5 | 89 | /* Standalone function subscriber. */ |
garyservin | 0:9e9b7db60fd5 | 90 | template<typename MsgT> |
garyservin | 0:9e9b7db60fd5 | 91 | class Subscriber<MsgT, void>: public Subscriber_ |
garyservin | 0:9e9b7db60fd5 | 92 | { |
garyservin | 0:9e9b7db60fd5 | 93 | public: |
garyservin | 0:9e9b7db60fd5 | 94 | typedef void(*CallbackT)(const MsgT&); |
garyservin | 0:9e9b7db60fd5 | 95 | MsgT msg; |
garyservin | 0:9e9b7db60fd5 | 96 | |
garyservin | 0:9e9b7db60fd5 | 97 | Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) : |
garyservin | 0:9e9b7db60fd5 | 98 | cb_(cb), |
garyservin | 0:9e9b7db60fd5 | 99 | endpoint_(endpoint) |
garyservin | 0:9e9b7db60fd5 | 100 | { |
garyservin | 0:9e9b7db60fd5 | 101 | topic_ = topic_name; |
garyservin | 0:9e9b7db60fd5 | 102 | }; |
garyservin | 0:9e9b7db60fd5 | 103 | |
garyservin | 0:9e9b7db60fd5 | 104 | virtual void callback(unsigned char* data) |
garyservin | 0:9e9b7db60fd5 | 105 | { |
garyservin | 0:9e9b7db60fd5 | 106 | msg.deserialize(data); |
garyservin | 0:9e9b7db60fd5 | 107 | this->cb_(msg); |
garyservin | 0:9e9b7db60fd5 | 108 | } |
garyservin | 0:9e9b7db60fd5 | 109 | |
garyservin | 0:9e9b7db60fd5 | 110 | virtual const char * getMsgType() { return this->msg.getType(); } |
garyservin | 0:9e9b7db60fd5 | 111 | virtual const char * getMsgMD5() { return this->msg.getMD5(); } |
garyservin | 0:9e9b7db60fd5 | 112 | virtual int getEndpointType() { return endpoint_; } |
garyservin | 0:9e9b7db60fd5 | 113 | |
garyservin | 0:9e9b7db60fd5 | 114 | private: |
garyservin | 0:9e9b7db60fd5 | 115 | CallbackT cb_; |
garyservin | 0:9e9b7db60fd5 | 116 | int endpoint_; |
garyservin | 0:9e9b7db60fd5 | 117 | }; |
garyservin | 0:9e9b7db60fd5 | 118 | |
garyservin | 0:9e9b7db60fd5 | 119 | } |
garyservin | 0:9e9b7db60fd5 | 120 | |
garyservin | 0:9e9b7db60fd5 | 121 | #endif |