Gary Servin / ros_lib_kinetic

ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

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();
    }
}

control_msgs/PointHeadGoal.h

Committer:
garyservin
Date:
2016-12-31
Revision:
1:a849bf78d77f
Parent:
0:9e9b7db60fd5

File content as of revision 1:a849bf78d77f:

#ifndef _ROS_control_msgs_PointHeadGoal_h
#define _ROS_control_msgs_PointHeadGoal_h

#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "geometry_msgs/PointStamped.h"
#include "geometry_msgs/Vector3.h"
#include "ros/duration.h"

namespace control_msgs
{

  class PointHeadGoal : public ros::Msg
  {
    public:
      typedef geometry_msgs::PointStamped _target_type;
      _target_type target;
      typedef geometry_msgs::Vector3 _pointing_axis_type;
      _pointing_axis_type pointing_axis;
      typedef const char* _pointing_frame_type;
      _pointing_frame_type pointing_frame;
      typedef ros::Duration _min_duration_type;
      _min_duration_type min_duration;
      typedef double _max_velocity_type;
      _max_velocity_type max_velocity;

    PointHeadGoal():
      target(),
      pointing_axis(),
      pointing_frame(""),
      min_duration(),
      max_velocity(0)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      offset += this->target.serialize(outbuffer + offset);
      offset += this->pointing_axis.serialize(outbuffer + offset);
      uint32_t length_pointing_frame = strlen(this->pointing_frame);
      varToArr(outbuffer + offset, length_pointing_frame);
      offset += 4;
      memcpy(outbuffer + offset, this->pointing_frame, length_pointing_frame);
      offset += length_pointing_frame;
      *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->min_duration.sec);
      *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->min_duration.nsec);
      union {
        double real;
        uint64_t base;
      } u_max_velocity;
      u_max_velocity.real = this->max_velocity;
      *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
      *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
      *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
      *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
      *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
      offset += sizeof(this->max_velocity);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      offset += this->target.deserialize(inbuffer + offset);
      offset += this->pointing_axis.deserialize(inbuffer + offset);
      uint32_t length_pointing_frame;
      arrToVar(length_pointing_frame, (inbuffer + offset));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_pointing_frame; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_pointing_frame-1]=0;
      this->pointing_frame = (char *)(inbuffer + offset-1);
      offset += length_pointing_frame;
      this->min_duration.sec =  ((uint32_t) (*(inbuffer + offset)));
      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->min_duration.sec);
      this->min_duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->min_duration.nsec);
      union {
        double real;
        uint64_t base;
      } u_max_velocity;
      u_max_velocity.base = 0;
      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
      this->max_velocity = u_max_velocity.real;
      offset += sizeof(this->max_velocity);
     return offset;
    }

    const char * getType(){ return "control_msgs/PointHeadGoal"; };
    const char * getMD5(){ return "8b92b1cd5e06c8a94c917dc3209a4c1d"; };

  };

}
#endif