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(); } }
sensor_msgs/PointCloud2.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_sensor_msgs_PointCloud2_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_sensor_msgs_PointCloud2_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 | #include "std_msgs/Header.h" |
garyservin | 0:9e9b7db60fd5 | 9 | #include "sensor_msgs/PointField.h" |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | namespace sensor_msgs |
garyservin | 0:9e9b7db60fd5 | 12 | { |
garyservin | 0:9e9b7db60fd5 | 13 | |
garyservin | 0:9e9b7db60fd5 | 14 | class PointCloud2 : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 15 | { |
garyservin | 0:9e9b7db60fd5 | 16 | public: |
garyservin | 0:9e9b7db60fd5 | 17 | typedef std_msgs::Header _header_type; |
garyservin | 0:9e9b7db60fd5 | 18 | _header_type header; |
garyservin | 0:9e9b7db60fd5 | 19 | typedef uint32_t _height_type; |
garyservin | 0:9e9b7db60fd5 | 20 | _height_type height; |
garyservin | 0:9e9b7db60fd5 | 21 | typedef uint32_t _width_type; |
garyservin | 0:9e9b7db60fd5 | 22 | _width_type width; |
garyservin | 0:9e9b7db60fd5 | 23 | uint32_t fields_length; |
garyservin | 0:9e9b7db60fd5 | 24 | typedef sensor_msgs::PointField _fields_type; |
garyservin | 0:9e9b7db60fd5 | 25 | _fields_type st_fields; |
garyservin | 0:9e9b7db60fd5 | 26 | _fields_type * fields; |
garyservin | 0:9e9b7db60fd5 | 27 | typedef bool _is_bigendian_type; |
garyservin | 0:9e9b7db60fd5 | 28 | _is_bigendian_type is_bigendian; |
garyservin | 0:9e9b7db60fd5 | 29 | typedef uint32_t _point_step_type; |
garyservin | 0:9e9b7db60fd5 | 30 | _point_step_type point_step; |
garyservin | 0:9e9b7db60fd5 | 31 | typedef uint32_t _row_step_type; |
garyservin | 0:9e9b7db60fd5 | 32 | _row_step_type row_step; |
garyservin | 0:9e9b7db60fd5 | 33 | uint32_t data_length; |
garyservin | 0:9e9b7db60fd5 | 34 | typedef uint8_t _data_type; |
garyservin | 0:9e9b7db60fd5 | 35 | _data_type st_data; |
garyservin | 0:9e9b7db60fd5 | 36 | _data_type * data; |
garyservin | 0:9e9b7db60fd5 | 37 | typedef bool _is_dense_type; |
garyservin | 0:9e9b7db60fd5 | 38 | _is_dense_type is_dense; |
garyservin | 0:9e9b7db60fd5 | 39 | |
garyservin | 0:9e9b7db60fd5 | 40 | PointCloud2(): |
garyservin | 0:9e9b7db60fd5 | 41 | header(), |
garyservin | 0:9e9b7db60fd5 | 42 | height(0), |
garyservin | 0:9e9b7db60fd5 | 43 | width(0), |
garyservin | 0:9e9b7db60fd5 | 44 | fields_length(0), fields(NULL), |
garyservin | 0:9e9b7db60fd5 | 45 | is_bigendian(0), |
garyservin | 0:9e9b7db60fd5 | 46 | point_step(0), |
garyservin | 0:9e9b7db60fd5 | 47 | row_step(0), |
garyservin | 0:9e9b7db60fd5 | 48 | data_length(0), data(NULL), |
garyservin | 0:9e9b7db60fd5 | 49 | is_dense(0) |
garyservin | 0:9e9b7db60fd5 | 50 | { |
garyservin | 0:9e9b7db60fd5 | 51 | } |
garyservin | 0:9e9b7db60fd5 | 52 | |
garyservin | 0:9e9b7db60fd5 | 53 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 54 | { |
garyservin | 0:9e9b7db60fd5 | 55 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 56 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 57 | *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 58 | *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 59 | *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 60 | *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 61 | offset += sizeof(this->height); |
garyservin | 0:9e9b7db60fd5 | 62 | *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 63 | *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 64 | *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 65 | *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 66 | offset += sizeof(this->width); |
garyservin | 0:9e9b7db60fd5 | 67 | *(outbuffer + offset + 0) = (this->fields_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 68 | *(outbuffer + offset + 1) = (this->fields_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 69 | *(outbuffer + offset + 2) = (this->fields_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 70 | *(outbuffer + offset + 3) = (this->fields_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 71 | offset += sizeof(this->fields_length); |
garyservin | 0:9e9b7db60fd5 | 72 | for( uint32_t i = 0; i < fields_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 73 | offset += this->fields[i].serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 74 | } |
garyservin | 0:9e9b7db60fd5 | 75 | union { |
garyservin | 0:9e9b7db60fd5 | 76 | bool real; |
garyservin | 0:9e9b7db60fd5 | 77 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 78 | } u_is_bigendian; |
garyservin | 0:9e9b7db60fd5 | 79 | u_is_bigendian.real = this->is_bigendian; |
garyservin | 0:9e9b7db60fd5 | 80 | *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 81 | offset += sizeof(this->is_bigendian); |
garyservin | 0:9e9b7db60fd5 | 82 | *(outbuffer + offset + 0) = (this->point_step >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 83 | *(outbuffer + offset + 1) = (this->point_step >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 84 | *(outbuffer + offset + 2) = (this->point_step >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 85 | *(outbuffer + offset + 3) = (this->point_step >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 86 | offset += sizeof(this->point_step); |
garyservin | 0:9e9b7db60fd5 | 87 | *(outbuffer + offset + 0) = (this->row_step >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 88 | *(outbuffer + offset + 1) = (this->row_step >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 89 | *(outbuffer + offset + 2) = (this->row_step >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 90 | *(outbuffer + offset + 3) = (this->row_step >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 91 | offset += sizeof(this->row_step); |
garyservin | 0:9e9b7db60fd5 | 92 | *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 93 | *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 94 | *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 95 | *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 96 | offset += sizeof(this->data_length); |
garyservin | 0:9e9b7db60fd5 | 97 | for( uint32_t i = 0; i < data_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 98 | *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 99 | offset += sizeof(this->data[i]); |
garyservin | 0:9e9b7db60fd5 | 100 | } |
garyservin | 0:9e9b7db60fd5 | 101 | union { |
garyservin | 0:9e9b7db60fd5 | 102 | bool real; |
garyservin | 0:9e9b7db60fd5 | 103 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 104 | } u_is_dense; |
garyservin | 0:9e9b7db60fd5 | 105 | u_is_dense.real = this->is_dense; |
garyservin | 0:9e9b7db60fd5 | 106 | *(outbuffer + offset + 0) = (u_is_dense.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 107 | offset += sizeof(this->is_dense); |
garyservin | 0:9e9b7db60fd5 | 108 | return offset; |
garyservin | 0:9e9b7db60fd5 | 109 | } |
garyservin | 0:9e9b7db60fd5 | 110 | |
garyservin | 0:9e9b7db60fd5 | 111 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 112 | { |
garyservin | 0:9e9b7db60fd5 | 113 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 114 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 115 | this->height = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 116 | this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 117 | this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 118 | this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 119 | offset += sizeof(this->height); |
garyservin | 0:9e9b7db60fd5 | 120 | this->width = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 121 | this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 122 | this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 123 | this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 124 | offset += sizeof(this->width); |
garyservin | 0:9e9b7db60fd5 | 125 | uint32_t fields_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 126 | fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 127 | fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 128 | fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 129 | offset += sizeof(this->fields_length); |
garyservin | 0:9e9b7db60fd5 | 130 | if(fields_lengthT > fields_length) |
garyservin | 0:9e9b7db60fd5 | 131 | this->fields = (sensor_msgs::PointField*)realloc(this->fields, fields_lengthT * sizeof(sensor_msgs::PointField)); |
garyservin | 0:9e9b7db60fd5 | 132 | fields_length = fields_lengthT; |
garyservin | 0:9e9b7db60fd5 | 133 | for( uint32_t i = 0; i < fields_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 134 | offset += this->st_fields.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 135 | memcpy( &(this->fields[i]), &(this->st_fields), sizeof(sensor_msgs::PointField)); |
garyservin | 0:9e9b7db60fd5 | 136 | } |
garyservin | 0:9e9b7db60fd5 | 137 | union { |
garyservin | 0:9e9b7db60fd5 | 138 | bool real; |
garyservin | 0:9e9b7db60fd5 | 139 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 140 | } u_is_bigendian; |
garyservin | 0:9e9b7db60fd5 | 141 | u_is_bigendian.base = 0; |
garyservin | 0:9e9b7db60fd5 | 142 | u_is_bigendian.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 143 | this->is_bigendian = u_is_bigendian.real; |
garyservin | 0:9e9b7db60fd5 | 144 | offset += sizeof(this->is_bigendian); |
garyservin | 0:9e9b7db60fd5 | 145 | this->point_step = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 146 | this->point_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 147 | this->point_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 148 | this->point_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 149 | offset += sizeof(this->point_step); |
garyservin | 0:9e9b7db60fd5 | 150 | this->row_step = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 151 | this->row_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 152 | this->row_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 153 | this->row_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 154 | offset += sizeof(this->row_step); |
garyservin | 0:9e9b7db60fd5 | 155 | uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 156 | data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 157 | data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 158 | data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 159 | offset += sizeof(this->data_length); |
garyservin | 0:9e9b7db60fd5 | 160 | if(data_lengthT > data_length) |
garyservin | 0:9e9b7db60fd5 | 161 | this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t)); |
garyservin | 0:9e9b7db60fd5 | 162 | data_length = data_lengthT; |
garyservin | 0:9e9b7db60fd5 | 163 | for( uint32_t i = 0; i < data_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 164 | this->st_data = ((uint8_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 165 | offset += sizeof(this->st_data); |
garyservin | 0:9e9b7db60fd5 | 166 | memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t)); |
garyservin | 0:9e9b7db60fd5 | 167 | } |
garyservin | 0:9e9b7db60fd5 | 168 | union { |
garyservin | 0:9e9b7db60fd5 | 169 | bool real; |
garyservin | 0:9e9b7db60fd5 | 170 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 171 | } u_is_dense; |
garyservin | 0:9e9b7db60fd5 | 172 | u_is_dense.base = 0; |
garyservin | 0:9e9b7db60fd5 | 173 | u_is_dense.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 174 | this->is_dense = u_is_dense.real; |
garyservin | 0:9e9b7db60fd5 | 175 | offset += sizeof(this->is_dense); |
garyservin | 0:9e9b7db60fd5 | 176 | return offset; |
garyservin | 0:9e9b7db60fd5 | 177 | } |
garyservin | 0:9e9b7db60fd5 | 178 | |
garyservin | 0:9e9b7db60fd5 | 179 | const char * getType(){ return "sensor_msgs/PointCloud2"; }; |
garyservin | 0:9e9b7db60fd5 | 180 | const char * getMD5(){ return "1158d486dd51d683ce2f1be655c3c181"; }; |
garyservin | 0:9e9b7db60fd5 | 181 | |
garyservin | 0:9e9b7db60fd5 | 182 | }; |
garyservin | 0:9e9b7db60fd5 | 183 | |
garyservin | 0:9e9b7db60fd5 | 184 | } |
garyservin | 0:9e9b7db60fd5 | 185 | #endif |