Gary Servin
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
Last commit 31 Dec 2016 by 
Gary Servin
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();
}
}
Diff: gazebo_msgs/ODEPhysics.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/ODEPhysics.h Sat Dec 31 00:48:34 2016 +0000
@@ -0,0 +1,287 @@
+#ifndef _ROS_gazebo_msgs_ODEPhysics_h
+#define _ROS_gazebo_msgs_ODEPhysics_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+ class ODEPhysics : public ros::Msg
+ {
+ public:
+ typedef bool _auto_disable_bodies_type;
+ _auto_disable_bodies_type auto_disable_bodies;
+ typedef uint32_t _sor_pgs_precon_iters_type;
+ _sor_pgs_precon_iters_type sor_pgs_precon_iters;
+ typedef uint32_t _sor_pgs_iters_type;
+ _sor_pgs_iters_type sor_pgs_iters;
+ typedef double _sor_pgs_w_type;
+ _sor_pgs_w_type sor_pgs_w;
+ typedef double _sor_pgs_rms_error_tol_type;
+ _sor_pgs_rms_error_tol_type sor_pgs_rms_error_tol;
+ typedef double _contact_surface_layer_type;
+ _contact_surface_layer_type contact_surface_layer;
+ typedef double _contact_max_correcting_vel_type;
+ _contact_max_correcting_vel_type contact_max_correcting_vel;
+ typedef double _cfm_type;
+ _cfm_type cfm;
+ typedef double _erp_type;
+ _erp_type erp;
+ typedef uint32_t _max_contacts_type;
+ _max_contacts_type max_contacts;
+
+ ODEPhysics():
+ auto_disable_bodies(0),
+ sor_pgs_precon_iters(0),
+ sor_pgs_iters(0),
+ sor_pgs_w(0),
+ sor_pgs_rms_error_tol(0),
+ contact_surface_layer(0),
+ contact_max_correcting_vel(0),
+ cfm(0),
+ erp(0),
+ max_contacts(0)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ union {
+ bool real;
+ uint8_t base;
+ } u_auto_disable_bodies;
+ u_auto_disable_bodies.real = this->auto_disable_bodies;
+ *(outbuffer + offset + 0) = (u_auto_disable_bodies.base >> (8 * 0)) & 0xFF;
+ offset += sizeof(this->auto_disable_bodies);
+ *(outbuffer + offset + 0) = (this->sor_pgs_precon_iters >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->sor_pgs_precon_iters >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->sor_pgs_precon_iters >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->sor_pgs_precon_iters >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->sor_pgs_precon_iters);
+ *(outbuffer + offset + 0) = (this->sor_pgs_iters >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->sor_pgs_iters >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->sor_pgs_iters >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->sor_pgs_iters >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->sor_pgs_iters);
+ union {
+ double real;
+ uint64_t base;
+ } u_sor_pgs_w;
+ u_sor_pgs_w.real = this->sor_pgs_w;
+ *(outbuffer + offset + 0) = (u_sor_pgs_w.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_sor_pgs_w.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_sor_pgs_w.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_sor_pgs_w.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_sor_pgs_w.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_sor_pgs_w.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_sor_pgs_w.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_sor_pgs_w.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->sor_pgs_w);
+ union {
+ double real;
+ uint64_t base;
+ } u_sor_pgs_rms_error_tol;
+ u_sor_pgs_rms_error_tol.real = this->sor_pgs_rms_error_tol;
+ *(outbuffer + offset + 0) = (u_sor_pgs_rms_error_tol.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_sor_pgs_rms_error_tol.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_sor_pgs_rms_error_tol.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_sor_pgs_rms_error_tol.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_sor_pgs_rms_error_tol.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_sor_pgs_rms_error_tol.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_sor_pgs_rms_error_tol.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_sor_pgs_rms_error_tol.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->sor_pgs_rms_error_tol);
+ union {
+ double real;
+ uint64_t base;
+ } u_contact_surface_layer;
+ u_contact_surface_layer.real = this->contact_surface_layer;
+ *(outbuffer + offset + 0) = (u_contact_surface_layer.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_contact_surface_layer.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_contact_surface_layer.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_contact_surface_layer.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_contact_surface_layer.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_contact_surface_layer.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_contact_surface_layer.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_contact_surface_layer.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->contact_surface_layer);
+ union {
+ double real;
+ uint64_t base;
+ } u_contact_max_correcting_vel;
+ u_contact_max_correcting_vel.real = this->contact_max_correcting_vel;
+ *(outbuffer + offset + 0) = (u_contact_max_correcting_vel.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_contact_max_correcting_vel.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_contact_max_correcting_vel.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_contact_max_correcting_vel.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_contact_max_correcting_vel.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_contact_max_correcting_vel.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_contact_max_correcting_vel.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_contact_max_correcting_vel.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->contact_max_correcting_vel);
+ union {
+ double real;
+ uint64_t base;
+ } u_cfm;
+ u_cfm.real = this->cfm;
+ *(outbuffer + offset + 0) = (u_cfm.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_cfm.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_cfm.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_cfm.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_cfm.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_cfm.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_cfm.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_cfm.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->cfm);
+ union {
+ double real;
+ uint64_t base;
+ } u_erp;
+ u_erp.real = this->erp;
+ *(outbuffer + offset + 0) = (u_erp.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_erp.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_erp.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_erp.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_erp.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_erp.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_erp.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_erp.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->erp);
+ *(outbuffer + offset + 0) = (this->max_contacts >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->max_contacts >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->max_contacts >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->max_contacts >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->max_contacts);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ union {
+ bool real;
+ uint8_t base;
+ } u_auto_disable_bodies;
+ u_auto_disable_bodies.base = 0;
+ u_auto_disable_bodies.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ this->auto_disable_bodies = u_auto_disable_bodies.real;
+ offset += sizeof(this->auto_disable_bodies);
+ this->sor_pgs_precon_iters = ((uint32_t) (*(inbuffer + offset)));
+ this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->sor_pgs_precon_iters);
+ this->sor_pgs_iters = ((uint32_t) (*(inbuffer + offset)));
+ this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->sor_pgs_iters);
+ union {
+ double real;
+ uint64_t base;
+ } u_sor_pgs_w;
+ u_sor_pgs_w.base = 0;
+ u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->sor_pgs_w = u_sor_pgs_w.real;
+ offset += sizeof(this->sor_pgs_w);
+ union {
+ double real;
+ uint64_t base;
+ } u_sor_pgs_rms_error_tol;
+ u_sor_pgs_rms_error_tol.base = 0;
+ u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->sor_pgs_rms_error_tol = u_sor_pgs_rms_error_tol.real;
+ offset += sizeof(this->sor_pgs_rms_error_tol);
+ union {
+ double real;
+ uint64_t base;
+ } u_contact_surface_layer;
+ u_contact_surface_layer.base = 0;
+ u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->contact_surface_layer = u_contact_surface_layer.real;
+ offset += sizeof(this->contact_surface_layer);
+ union {
+ double real;
+ uint64_t base;
+ } u_contact_max_correcting_vel;
+ u_contact_max_correcting_vel.base = 0;
+ u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->contact_max_correcting_vel = u_contact_max_correcting_vel.real;
+ offset += sizeof(this->contact_max_correcting_vel);
+ union {
+ double real;
+ uint64_t base;
+ } u_cfm;
+ u_cfm.base = 0;
+ u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->cfm = u_cfm.real;
+ offset += sizeof(this->cfm);
+ union {
+ double real;
+ uint64_t base;
+ } u_erp;
+ u_erp.base = 0;
+ u_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->erp = u_erp.real;
+ offset += sizeof(this->erp);
+ this->max_contacts = ((uint32_t) (*(inbuffer + offset)));
+ this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->max_contacts);
+ return offset;
+ }
+
+ const char * getType(){ return "gazebo_msgs/ODEPhysics"; };
+ const char * getMD5(){ return "667d56ddbd547918c32d1934503dc335"; };
+
+ };
+
+}
+#endif
\ No newline at end of file