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(); } }
tf2_msgs/LookupTransformGoal.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_tf2_msgs_LookupTransformGoal_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_tf2_msgs_LookupTransformGoal_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 "ros/time.h" |
garyservin | 0:9e9b7db60fd5 | 9 | #include "ros/duration.h" |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | namespace tf2_msgs |
garyservin | 0:9e9b7db60fd5 | 12 | { |
garyservin | 0:9e9b7db60fd5 | 13 | |
garyservin | 0:9e9b7db60fd5 | 14 | class LookupTransformGoal : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 15 | { |
garyservin | 0:9e9b7db60fd5 | 16 | public: |
garyservin | 0:9e9b7db60fd5 | 17 | typedef const char* _target_frame_type; |
garyservin | 0:9e9b7db60fd5 | 18 | _target_frame_type target_frame; |
garyservin | 0:9e9b7db60fd5 | 19 | typedef const char* _source_frame_type; |
garyservin | 0:9e9b7db60fd5 | 20 | _source_frame_type source_frame; |
garyservin | 0:9e9b7db60fd5 | 21 | typedef ros::Time _source_time_type; |
garyservin | 0:9e9b7db60fd5 | 22 | _source_time_type source_time; |
garyservin | 0:9e9b7db60fd5 | 23 | typedef ros::Duration _timeout_type; |
garyservin | 0:9e9b7db60fd5 | 24 | _timeout_type timeout; |
garyservin | 0:9e9b7db60fd5 | 25 | typedef ros::Time _target_time_type; |
garyservin | 0:9e9b7db60fd5 | 26 | _target_time_type target_time; |
garyservin | 0:9e9b7db60fd5 | 27 | typedef const char* _fixed_frame_type; |
garyservin | 0:9e9b7db60fd5 | 28 | _fixed_frame_type fixed_frame; |
garyservin | 0:9e9b7db60fd5 | 29 | typedef bool _advanced_type; |
garyservin | 0:9e9b7db60fd5 | 30 | _advanced_type advanced; |
garyservin | 0:9e9b7db60fd5 | 31 | |
garyservin | 0:9e9b7db60fd5 | 32 | LookupTransformGoal(): |
garyservin | 0:9e9b7db60fd5 | 33 | target_frame(""), |
garyservin | 0:9e9b7db60fd5 | 34 | source_frame(""), |
garyservin | 0:9e9b7db60fd5 | 35 | source_time(), |
garyservin | 0:9e9b7db60fd5 | 36 | timeout(), |
garyservin | 0:9e9b7db60fd5 | 37 | target_time(), |
garyservin | 0:9e9b7db60fd5 | 38 | fixed_frame(""), |
garyservin | 0:9e9b7db60fd5 | 39 | advanced(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 | uint32_t length_target_frame = strlen(this->target_frame); |
garyservin | 0:9e9b7db60fd5 | 47 | varToArr(outbuffer + offset, length_target_frame); |
garyservin | 0:9e9b7db60fd5 | 48 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 49 | memcpy(outbuffer + offset, this->target_frame, length_target_frame); |
garyservin | 0:9e9b7db60fd5 | 50 | offset += length_target_frame; |
garyservin | 0:9e9b7db60fd5 | 51 | uint32_t length_source_frame = strlen(this->source_frame); |
garyservin | 0:9e9b7db60fd5 | 52 | varToArr(outbuffer + offset, length_source_frame); |
garyservin | 0:9e9b7db60fd5 | 53 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 54 | memcpy(outbuffer + offset, this->source_frame, length_source_frame); |
garyservin | 0:9e9b7db60fd5 | 55 | offset += length_source_frame; |
garyservin | 0:9e9b7db60fd5 | 56 | *(outbuffer + offset + 0) = (this->source_time.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 57 | *(outbuffer + offset + 1) = (this->source_time.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 58 | *(outbuffer + offset + 2) = (this->source_time.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 59 | *(outbuffer + offset + 3) = (this->source_time.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 60 | offset += sizeof(this->source_time.sec); |
garyservin | 0:9e9b7db60fd5 | 61 | *(outbuffer + offset + 0) = (this->source_time.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 62 | *(outbuffer + offset + 1) = (this->source_time.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 63 | *(outbuffer + offset + 2) = (this->source_time.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 64 | *(outbuffer + offset + 3) = (this->source_time.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 65 | offset += sizeof(this->source_time.nsec); |
garyservin | 0:9e9b7db60fd5 | 66 | *(outbuffer + offset + 0) = (this->timeout.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 67 | *(outbuffer + offset + 1) = (this->timeout.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 68 | *(outbuffer + offset + 2) = (this->timeout.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 69 | *(outbuffer + offset + 3) = (this->timeout.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 70 | offset += sizeof(this->timeout.sec); |
garyservin | 0:9e9b7db60fd5 | 71 | *(outbuffer + offset + 0) = (this->timeout.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 72 | *(outbuffer + offset + 1) = (this->timeout.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 73 | *(outbuffer + offset + 2) = (this->timeout.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 74 | *(outbuffer + offset + 3) = (this->timeout.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 75 | offset += sizeof(this->timeout.nsec); |
garyservin | 0:9e9b7db60fd5 | 76 | *(outbuffer + offset + 0) = (this->target_time.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 77 | *(outbuffer + offset + 1) = (this->target_time.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 78 | *(outbuffer + offset + 2) = (this->target_time.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 79 | *(outbuffer + offset + 3) = (this->target_time.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 80 | offset += sizeof(this->target_time.sec); |
garyservin | 0:9e9b7db60fd5 | 81 | *(outbuffer + offset + 0) = (this->target_time.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 82 | *(outbuffer + offset + 1) = (this->target_time.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 83 | *(outbuffer + offset + 2) = (this->target_time.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 84 | *(outbuffer + offset + 3) = (this->target_time.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 85 | offset += sizeof(this->target_time.nsec); |
garyservin | 0:9e9b7db60fd5 | 86 | uint32_t length_fixed_frame = strlen(this->fixed_frame); |
garyservin | 0:9e9b7db60fd5 | 87 | varToArr(outbuffer + offset, length_fixed_frame); |
garyservin | 0:9e9b7db60fd5 | 88 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 89 | memcpy(outbuffer + offset, this->fixed_frame, length_fixed_frame); |
garyservin | 0:9e9b7db60fd5 | 90 | offset += length_fixed_frame; |
garyservin | 0:9e9b7db60fd5 | 91 | union { |
garyservin | 0:9e9b7db60fd5 | 92 | bool real; |
garyservin | 0:9e9b7db60fd5 | 93 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 94 | } u_advanced; |
garyservin | 0:9e9b7db60fd5 | 95 | u_advanced.real = this->advanced; |
garyservin | 0:9e9b7db60fd5 | 96 | *(outbuffer + offset + 0) = (u_advanced.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 97 | offset += sizeof(this->advanced); |
garyservin | 0:9e9b7db60fd5 | 98 | return offset; |
garyservin | 0:9e9b7db60fd5 | 99 | } |
garyservin | 0:9e9b7db60fd5 | 100 | |
garyservin | 0:9e9b7db60fd5 | 101 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 102 | { |
garyservin | 0:9e9b7db60fd5 | 103 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 104 | uint32_t length_target_frame; |
garyservin | 0:9e9b7db60fd5 | 105 | arrToVar(length_target_frame, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 106 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 107 | for(unsigned int k= offset; k< offset+length_target_frame; ++k){ |
garyservin | 0:9e9b7db60fd5 | 108 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 109 | } |
garyservin | 0:9e9b7db60fd5 | 110 | inbuffer[offset+length_target_frame-1]=0; |
garyservin | 0:9e9b7db60fd5 | 111 | this->target_frame = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 112 | offset += length_target_frame; |
garyservin | 0:9e9b7db60fd5 | 113 | uint32_t length_source_frame; |
garyservin | 0:9e9b7db60fd5 | 114 | arrToVar(length_source_frame, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 115 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 116 | for(unsigned int k= offset; k< offset+length_source_frame; ++k){ |
garyservin | 0:9e9b7db60fd5 | 117 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 118 | } |
garyservin | 0:9e9b7db60fd5 | 119 | inbuffer[offset+length_source_frame-1]=0; |
garyservin | 0:9e9b7db60fd5 | 120 | this->source_frame = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 121 | offset += length_source_frame; |
garyservin | 0:9e9b7db60fd5 | 122 | this->source_time.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 123 | this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 124 | this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 125 | this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 126 | offset += sizeof(this->source_time.sec); |
garyservin | 0:9e9b7db60fd5 | 127 | this->source_time.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 128 | this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 129 | this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 130 | this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 131 | offset += sizeof(this->source_time.nsec); |
garyservin | 0:9e9b7db60fd5 | 132 | this->timeout.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 133 | this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 134 | this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 135 | this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 136 | offset += sizeof(this->timeout.sec); |
garyservin | 0:9e9b7db60fd5 | 137 | this->timeout.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 138 | this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 139 | this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 140 | this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 141 | offset += sizeof(this->timeout.nsec); |
garyservin | 0:9e9b7db60fd5 | 142 | this->target_time.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 143 | this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 144 | this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 145 | this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 146 | offset += sizeof(this->target_time.sec); |
garyservin | 0:9e9b7db60fd5 | 147 | this->target_time.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 148 | this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 149 | this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 150 | this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 151 | offset += sizeof(this->target_time.nsec); |
garyservin | 0:9e9b7db60fd5 | 152 | uint32_t length_fixed_frame; |
garyservin | 0:9e9b7db60fd5 | 153 | arrToVar(length_fixed_frame, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 154 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 155 | for(unsigned int k= offset; k< offset+length_fixed_frame; ++k){ |
garyservin | 0:9e9b7db60fd5 | 156 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 157 | } |
garyservin | 0:9e9b7db60fd5 | 158 | inbuffer[offset+length_fixed_frame-1]=0; |
garyservin | 0:9e9b7db60fd5 | 159 | this->fixed_frame = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 160 | offset += length_fixed_frame; |
garyservin | 0:9e9b7db60fd5 | 161 | union { |
garyservin | 0:9e9b7db60fd5 | 162 | bool real; |
garyservin | 0:9e9b7db60fd5 | 163 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 164 | } u_advanced; |
garyservin | 0:9e9b7db60fd5 | 165 | u_advanced.base = 0; |
garyservin | 0:9e9b7db60fd5 | 166 | u_advanced.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 167 | this->advanced = u_advanced.real; |
garyservin | 0:9e9b7db60fd5 | 168 | offset += sizeof(this->advanced); |
garyservin | 0:9e9b7db60fd5 | 169 | return offset; |
garyservin | 0:9e9b7db60fd5 | 170 | } |
garyservin | 0:9e9b7db60fd5 | 171 | |
garyservin | 0:9e9b7db60fd5 | 172 | const char * getType(){ return "tf2_msgs/LookupTransformGoal"; }; |
garyservin | 0:9e9b7db60fd5 | 173 | const char * getMD5(){ return "35e3720468131d675a18bb6f3e5f22f8"; }; |
garyservin | 0:9e9b7db60fd5 | 174 | |
garyservin | 0:9e9b7db60fd5 | 175 | }; |
garyservin | 0:9e9b7db60fd5 | 176 | |
garyservin | 0:9e9b7db60fd5 | 177 | } |
garyservin | 0:9e9b7db60fd5 | 178 | #endif |