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(); } }
smach_msgs/SmachContainerStatus.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_smach_msgs_SmachContainerStatus_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_smach_msgs_SmachContainerStatus_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 | |
garyservin | 0:9e9b7db60fd5 | 10 | namespace smach_msgs |
garyservin | 0:9e9b7db60fd5 | 11 | { |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class SmachContainerStatus : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 14 | { |
garyservin | 0:9e9b7db60fd5 | 15 | public: |
garyservin | 0:9e9b7db60fd5 | 16 | typedef std_msgs::Header _header_type; |
garyservin | 0:9e9b7db60fd5 | 17 | _header_type header; |
garyservin | 0:9e9b7db60fd5 | 18 | typedef const char* _path_type; |
garyservin | 0:9e9b7db60fd5 | 19 | _path_type path; |
garyservin | 0:9e9b7db60fd5 | 20 | uint32_t initial_states_length; |
garyservin | 0:9e9b7db60fd5 | 21 | typedef char* _initial_states_type; |
garyservin | 0:9e9b7db60fd5 | 22 | _initial_states_type st_initial_states; |
garyservin | 0:9e9b7db60fd5 | 23 | _initial_states_type * initial_states; |
garyservin | 0:9e9b7db60fd5 | 24 | uint32_t active_states_length; |
garyservin | 0:9e9b7db60fd5 | 25 | typedef char* _active_states_type; |
garyservin | 0:9e9b7db60fd5 | 26 | _active_states_type st_active_states; |
garyservin | 0:9e9b7db60fd5 | 27 | _active_states_type * active_states; |
garyservin | 0:9e9b7db60fd5 | 28 | typedef const char* _local_data_type; |
garyservin | 0:9e9b7db60fd5 | 29 | _local_data_type local_data; |
garyservin | 0:9e9b7db60fd5 | 30 | typedef const char* _info_type; |
garyservin | 0:9e9b7db60fd5 | 31 | _info_type info; |
garyservin | 0:9e9b7db60fd5 | 32 | |
garyservin | 0:9e9b7db60fd5 | 33 | SmachContainerStatus(): |
garyservin | 0:9e9b7db60fd5 | 34 | header(), |
garyservin | 0:9e9b7db60fd5 | 35 | path(""), |
garyservin | 0:9e9b7db60fd5 | 36 | initial_states_length(0), initial_states(NULL), |
garyservin | 0:9e9b7db60fd5 | 37 | active_states_length(0), active_states(NULL), |
garyservin | 0:9e9b7db60fd5 | 38 | local_data(""), |
garyservin | 0:9e9b7db60fd5 | 39 | info("") |
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 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 47 | uint32_t length_path = strlen(this->path); |
garyservin | 0:9e9b7db60fd5 | 48 | varToArr(outbuffer + offset, length_path); |
garyservin | 0:9e9b7db60fd5 | 49 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 50 | memcpy(outbuffer + offset, this->path, length_path); |
garyservin | 0:9e9b7db60fd5 | 51 | offset += length_path; |
garyservin | 0:9e9b7db60fd5 | 52 | *(outbuffer + offset + 0) = (this->initial_states_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 53 | *(outbuffer + offset + 1) = (this->initial_states_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 54 | *(outbuffer + offset + 2) = (this->initial_states_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 55 | *(outbuffer + offset + 3) = (this->initial_states_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 56 | offset += sizeof(this->initial_states_length); |
garyservin | 0:9e9b7db60fd5 | 57 | for( uint32_t i = 0; i < initial_states_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 58 | uint32_t length_initial_statesi = strlen(this->initial_states[i]); |
garyservin | 0:9e9b7db60fd5 | 59 | varToArr(outbuffer + offset, length_initial_statesi); |
garyservin | 0:9e9b7db60fd5 | 60 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 61 | memcpy(outbuffer + offset, this->initial_states[i], length_initial_statesi); |
garyservin | 0:9e9b7db60fd5 | 62 | offset += length_initial_statesi; |
garyservin | 0:9e9b7db60fd5 | 63 | } |
garyservin | 0:9e9b7db60fd5 | 64 | *(outbuffer + offset + 0) = (this->active_states_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 65 | *(outbuffer + offset + 1) = (this->active_states_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 66 | *(outbuffer + offset + 2) = (this->active_states_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 67 | *(outbuffer + offset + 3) = (this->active_states_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 68 | offset += sizeof(this->active_states_length); |
garyservin | 0:9e9b7db60fd5 | 69 | for( uint32_t i = 0; i < active_states_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 70 | uint32_t length_active_statesi = strlen(this->active_states[i]); |
garyservin | 0:9e9b7db60fd5 | 71 | varToArr(outbuffer + offset, length_active_statesi); |
garyservin | 0:9e9b7db60fd5 | 72 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 73 | memcpy(outbuffer + offset, this->active_states[i], length_active_statesi); |
garyservin | 0:9e9b7db60fd5 | 74 | offset += length_active_statesi; |
garyservin | 0:9e9b7db60fd5 | 75 | } |
garyservin | 0:9e9b7db60fd5 | 76 | uint32_t length_local_data = strlen(this->local_data); |
garyservin | 0:9e9b7db60fd5 | 77 | varToArr(outbuffer + offset, length_local_data); |
garyservin | 0:9e9b7db60fd5 | 78 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 79 | memcpy(outbuffer + offset, this->local_data, length_local_data); |
garyservin | 0:9e9b7db60fd5 | 80 | offset += length_local_data; |
garyservin | 0:9e9b7db60fd5 | 81 | uint32_t length_info = strlen(this->info); |
garyservin | 0:9e9b7db60fd5 | 82 | varToArr(outbuffer + offset, length_info); |
garyservin | 0:9e9b7db60fd5 | 83 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 84 | memcpy(outbuffer + offset, this->info, length_info); |
garyservin | 0:9e9b7db60fd5 | 85 | offset += length_info; |
garyservin | 0:9e9b7db60fd5 | 86 | return offset; |
garyservin | 0:9e9b7db60fd5 | 87 | } |
garyservin | 0:9e9b7db60fd5 | 88 | |
garyservin | 0:9e9b7db60fd5 | 89 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 90 | { |
garyservin | 0:9e9b7db60fd5 | 91 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 92 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 93 | uint32_t length_path; |
garyservin | 0:9e9b7db60fd5 | 94 | arrToVar(length_path, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 95 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 96 | for(unsigned int k= offset; k< offset+length_path; ++k){ |
garyservin | 0:9e9b7db60fd5 | 97 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 98 | } |
garyservin | 0:9e9b7db60fd5 | 99 | inbuffer[offset+length_path-1]=0; |
garyservin | 0:9e9b7db60fd5 | 100 | this->path = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 101 | offset += length_path; |
garyservin | 0:9e9b7db60fd5 | 102 | uint32_t initial_states_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 103 | initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 104 | initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 105 | initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 106 | offset += sizeof(this->initial_states_length); |
garyservin | 0:9e9b7db60fd5 | 107 | if(initial_states_lengthT > initial_states_length) |
garyservin | 0:9e9b7db60fd5 | 108 | this->initial_states = (char**)realloc(this->initial_states, initial_states_lengthT * sizeof(char*)); |
garyservin | 0:9e9b7db60fd5 | 109 | initial_states_length = initial_states_lengthT; |
garyservin | 0:9e9b7db60fd5 | 110 | for( uint32_t i = 0; i < initial_states_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 111 | uint32_t length_st_initial_states; |
garyservin | 0:9e9b7db60fd5 | 112 | arrToVar(length_st_initial_states, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 113 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 114 | for(unsigned int k= offset; k< offset+length_st_initial_states; ++k){ |
garyservin | 0:9e9b7db60fd5 | 115 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 116 | } |
garyservin | 0:9e9b7db60fd5 | 117 | inbuffer[offset+length_st_initial_states-1]=0; |
garyservin | 0:9e9b7db60fd5 | 118 | this->st_initial_states = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 119 | offset += length_st_initial_states; |
garyservin | 0:9e9b7db60fd5 | 120 | memcpy( &(this->initial_states[i]), &(this->st_initial_states), sizeof(char*)); |
garyservin | 0:9e9b7db60fd5 | 121 | } |
garyservin | 0:9e9b7db60fd5 | 122 | uint32_t active_states_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 123 | active_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 124 | active_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 125 | active_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 126 | offset += sizeof(this->active_states_length); |
garyservin | 0:9e9b7db60fd5 | 127 | if(active_states_lengthT > active_states_length) |
garyservin | 0:9e9b7db60fd5 | 128 | this->active_states = (char**)realloc(this->active_states, active_states_lengthT * sizeof(char*)); |
garyservin | 0:9e9b7db60fd5 | 129 | active_states_length = active_states_lengthT; |
garyservin | 0:9e9b7db60fd5 | 130 | for( uint32_t i = 0; i < active_states_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 131 | uint32_t length_st_active_states; |
garyservin | 0:9e9b7db60fd5 | 132 | arrToVar(length_st_active_states, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 133 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 134 | for(unsigned int k= offset; k< offset+length_st_active_states; ++k){ |
garyservin | 0:9e9b7db60fd5 | 135 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 136 | } |
garyservin | 0:9e9b7db60fd5 | 137 | inbuffer[offset+length_st_active_states-1]=0; |
garyservin | 0:9e9b7db60fd5 | 138 | this->st_active_states = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 139 | offset += length_st_active_states; |
garyservin | 0:9e9b7db60fd5 | 140 | memcpy( &(this->active_states[i]), &(this->st_active_states), sizeof(char*)); |
garyservin | 0:9e9b7db60fd5 | 141 | } |
garyservin | 0:9e9b7db60fd5 | 142 | uint32_t length_local_data; |
garyservin | 0:9e9b7db60fd5 | 143 | arrToVar(length_local_data, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 144 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 145 | for(unsigned int k= offset; k< offset+length_local_data; ++k){ |
garyservin | 0:9e9b7db60fd5 | 146 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 147 | } |
garyservin | 0:9e9b7db60fd5 | 148 | inbuffer[offset+length_local_data-1]=0; |
garyservin | 0:9e9b7db60fd5 | 149 | this->local_data = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 150 | offset += length_local_data; |
garyservin | 0:9e9b7db60fd5 | 151 | uint32_t length_info; |
garyservin | 0:9e9b7db60fd5 | 152 | arrToVar(length_info, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 153 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 154 | for(unsigned int k= offset; k< offset+length_info; ++k){ |
garyservin | 0:9e9b7db60fd5 | 155 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 156 | } |
garyservin | 0:9e9b7db60fd5 | 157 | inbuffer[offset+length_info-1]=0; |
garyservin | 0:9e9b7db60fd5 | 158 | this->info = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 159 | offset += length_info; |
garyservin | 0:9e9b7db60fd5 | 160 | return offset; |
garyservin | 0:9e9b7db60fd5 | 161 | } |
garyservin | 0:9e9b7db60fd5 | 162 | |
garyservin | 0:9e9b7db60fd5 | 163 | const char * getType(){ return "smach_msgs/SmachContainerStatus"; }; |
garyservin | 0:9e9b7db60fd5 | 164 | const char * getMD5(){ return "5ba2bb79ac19e3842d562a191f2a675b"; }; |
garyservin | 0:9e9b7db60fd5 | 165 | |
garyservin | 0:9e9b7db60fd5 | 166 | }; |
garyservin | 0:9e9b7db60fd5 | 167 | |
garyservin | 0:9e9b7db60fd5 | 168 | } |
garyservin | 0:9e9b7db60fd5 | 169 | #endif |