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(); } }
rosserial_msgs/TopicInfo.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 | #ifndef _ROS_rosserial_msgs_TopicInfo_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_rosserial_msgs_TopicInfo_h |
garyservin | 0:9e9b7db60fd5 | 3 | |
garyservin | 0:9e9b7db60fd5 | 4 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 7 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 8 | |
garyservin | 0:9e9b7db60fd5 | 9 | namespace rosserial_msgs |
garyservin | 0:9e9b7db60fd5 | 10 | { |
garyservin | 0:9e9b7db60fd5 | 11 | |
garyservin | 0:9e9b7db60fd5 | 12 | class TopicInfo : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 13 | { |
garyservin | 0:9e9b7db60fd5 | 14 | public: |
garyservin | 0:9e9b7db60fd5 | 15 | typedef uint16_t _topic_id_type; |
garyservin | 0:9e9b7db60fd5 | 16 | _topic_id_type topic_id; |
garyservin | 0:9e9b7db60fd5 | 17 | typedef const char* _topic_name_type; |
garyservin | 0:9e9b7db60fd5 | 18 | _topic_name_type topic_name; |
garyservin | 0:9e9b7db60fd5 | 19 | typedef const char* _message_type_type; |
garyservin | 0:9e9b7db60fd5 | 20 | _message_type_type message_type; |
garyservin | 0:9e9b7db60fd5 | 21 | typedef const char* _md5sum_type; |
garyservin | 0:9e9b7db60fd5 | 22 | _md5sum_type md5sum; |
garyservin | 0:9e9b7db60fd5 | 23 | typedef int32_t _buffer_size_type; |
garyservin | 0:9e9b7db60fd5 | 24 | _buffer_size_type buffer_size; |
garyservin | 0:9e9b7db60fd5 | 25 | enum { ID_PUBLISHER = 0 }; |
garyservin | 0:9e9b7db60fd5 | 26 | enum { ID_SUBSCRIBER = 1 }; |
garyservin | 0:9e9b7db60fd5 | 27 | enum { ID_SERVICE_SERVER = 2 }; |
garyservin | 0:9e9b7db60fd5 | 28 | enum { ID_SERVICE_CLIENT = 4 }; |
garyservin | 0:9e9b7db60fd5 | 29 | enum { ID_PARAMETER_REQUEST = 6 }; |
garyservin | 0:9e9b7db60fd5 | 30 | enum { ID_LOG = 7 }; |
garyservin | 0:9e9b7db60fd5 | 31 | enum { ID_TIME = 10 }; |
garyservin | 0:9e9b7db60fd5 | 32 | enum { ID_TX_STOP = 11 }; |
garyservin | 0:9e9b7db60fd5 | 33 | |
garyservin | 0:9e9b7db60fd5 | 34 | TopicInfo(): |
garyservin | 0:9e9b7db60fd5 | 35 | topic_id(0), |
garyservin | 0:9e9b7db60fd5 | 36 | topic_name(""), |
garyservin | 0:9e9b7db60fd5 | 37 | message_type(""), |
garyservin | 0:9e9b7db60fd5 | 38 | md5sum(""), |
garyservin | 0:9e9b7db60fd5 | 39 | buffer_size(0) |
garyservin | 0:9e9b7db60fd5 | 40 | { |
garyservin | 0:9e9b7db60fd5 | 41 | } |
garyservin | 0:9e9b7db60fd5 | 42 | |
garyservin | 0:9e9b7db60fd5 | 43 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 44 | { |
garyservin | 0:9e9b7db60fd5 | 45 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 46 | *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 47 | *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 48 | offset += sizeof(this->topic_id); |
garyservin | 0:9e9b7db60fd5 | 49 | uint32_t length_topic_name = strlen(this->topic_name); |
garyservin | 0:9e9b7db60fd5 | 50 | varToArr(outbuffer + offset, length_topic_name); |
garyservin | 0:9e9b7db60fd5 | 51 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 52 | memcpy(outbuffer + offset, this->topic_name, length_topic_name); |
garyservin | 0:9e9b7db60fd5 | 53 | offset += length_topic_name; |
garyservin | 0:9e9b7db60fd5 | 54 | uint32_t length_message_type = strlen(this->message_type); |
garyservin | 0:9e9b7db60fd5 | 55 | varToArr(outbuffer + offset, length_message_type); |
garyservin | 0:9e9b7db60fd5 | 56 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 57 | memcpy(outbuffer + offset, this->message_type, length_message_type); |
garyservin | 0:9e9b7db60fd5 | 58 | offset += length_message_type; |
garyservin | 0:9e9b7db60fd5 | 59 | uint32_t length_md5sum = strlen(this->md5sum); |
garyservin | 0:9e9b7db60fd5 | 60 | varToArr(outbuffer + offset, length_md5sum); |
garyservin | 0:9e9b7db60fd5 | 61 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 62 | memcpy(outbuffer + offset, this->md5sum, length_md5sum); |
garyservin | 0:9e9b7db60fd5 | 63 | offset += length_md5sum; |
garyservin | 0:9e9b7db60fd5 | 64 | union { |
garyservin | 0:9e9b7db60fd5 | 65 | int32_t real; |
garyservin | 0:9e9b7db60fd5 | 66 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 67 | } u_buffer_size; |
garyservin | 0:9e9b7db60fd5 | 68 | u_buffer_size.real = this->buffer_size; |
garyservin | 0:9e9b7db60fd5 | 69 | *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 70 | *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 71 | *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 72 | *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 73 | offset += sizeof(this->buffer_size); |
garyservin | 0:9e9b7db60fd5 | 74 | return offset; |
garyservin | 0:9e9b7db60fd5 | 75 | } |
garyservin | 0:9e9b7db60fd5 | 76 | |
garyservin | 0:9e9b7db60fd5 | 77 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 78 | { |
garyservin | 0:9e9b7db60fd5 | 79 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 80 | this->topic_id = ((uint16_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 81 | this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 82 | offset += sizeof(this->topic_id); |
garyservin | 0:9e9b7db60fd5 | 83 | uint32_t length_topic_name; |
garyservin | 0:9e9b7db60fd5 | 84 | arrToVar(length_topic_name, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 85 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 86 | for(unsigned int k= offset; k< offset+length_topic_name; ++k){ |
garyservin | 0:9e9b7db60fd5 | 87 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 88 | } |
garyservin | 0:9e9b7db60fd5 | 89 | inbuffer[offset+length_topic_name-1]=0; |
garyservin | 0:9e9b7db60fd5 | 90 | this->topic_name = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 91 | offset += length_topic_name; |
garyservin | 0:9e9b7db60fd5 | 92 | uint32_t length_message_type; |
garyservin | 0:9e9b7db60fd5 | 93 | arrToVar(length_message_type, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 94 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 95 | for(unsigned int k= offset; k< offset+length_message_type; ++k){ |
garyservin | 0:9e9b7db60fd5 | 96 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 97 | } |
garyservin | 0:9e9b7db60fd5 | 98 | inbuffer[offset+length_message_type-1]=0; |
garyservin | 0:9e9b7db60fd5 | 99 | this->message_type = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 100 | offset += length_message_type; |
garyservin | 0:9e9b7db60fd5 | 101 | uint32_t length_md5sum; |
garyservin | 0:9e9b7db60fd5 | 102 | arrToVar(length_md5sum, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 103 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 104 | for(unsigned int k= offset; k< offset+length_md5sum; ++k){ |
garyservin | 0:9e9b7db60fd5 | 105 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 106 | } |
garyservin | 0:9e9b7db60fd5 | 107 | inbuffer[offset+length_md5sum-1]=0; |
garyservin | 0:9e9b7db60fd5 | 108 | this->md5sum = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 109 | offset += length_md5sum; |
garyservin | 0:9e9b7db60fd5 | 110 | union { |
garyservin | 0:9e9b7db60fd5 | 111 | int32_t real; |
garyservin | 0:9e9b7db60fd5 | 112 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 113 | } u_buffer_size; |
garyservin | 0:9e9b7db60fd5 | 114 | u_buffer_size.base = 0; |
garyservin | 0:9e9b7db60fd5 | 115 | u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 116 | u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 117 | u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 118 | u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 119 | this->buffer_size = u_buffer_size.real; |
garyservin | 0:9e9b7db60fd5 | 120 | offset += sizeof(this->buffer_size); |
garyservin | 0:9e9b7db60fd5 | 121 | return offset; |
garyservin | 0:9e9b7db60fd5 | 122 | } |
garyservin | 0:9e9b7db60fd5 | 123 | |
garyservin | 0:9e9b7db60fd5 | 124 | const char * getType(){ return "rosserial_msgs/TopicInfo"; }; |
garyservin | 0:9e9b7db60fd5 | 125 | const char * getMD5(){ return "0ad51f88fc44892f8c10684077646005"; }; |
garyservin | 0:9e9b7db60fd5 | 126 | |
garyservin | 0:9e9b7db60fd5 | 127 | }; |
garyservin | 0:9e9b7db60fd5 | 128 | |
garyservin | 0:9e9b7db60fd5 | 129 | } |
garyservin | 0:9e9b7db60fd5 | 130 | #endif |