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();
    }
}

sensor_msgs/CameraInfo.h

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

File content as of revision 1:a849bf78d77f:

#ifndef _ROS_sensor_msgs_CameraInfo_h
#define _ROS_sensor_msgs_CameraInfo_h

#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "sensor_msgs/RegionOfInterest.h"

namespace sensor_msgs
{

  class CameraInfo : public ros::Msg
  {
    public:
      typedef std_msgs::Header _header_type;
      _header_type header;
      typedef uint32_t _height_type;
      _height_type height;
      typedef uint32_t _width_type;
      _width_type width;
      typedef const char* _distortion_model_type;
      _distortion_model_type distortion_model;
      uint32_t D_length;
      typedef double _D_type;
      _D_type st_D;
      _D_type * D;
      double K[9];
      double R[9];
      double P[12];
      typedef uint32_t _binning_x_type;
      _binning_x_type binning_x;
      typedef uint32_t _binning_y_type;
      _binning_y_type binning_y;
      typedef sensor_msgs::RegionOfInterest _roi_type;
      _roi_type roi;

    CameraInfo():
      header(),
      height(0),
      width(0),
      distortion_model(""),
      D_length(0), D(NULL),
      K(),
      R(),
      P(),
      binning_x(0),
      binning_y(0),
      roi()
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      offset += this->header.serialize(outbuffer + offset);
      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
      offset += sizeof(this->height);
      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
      offset += sizeof(this->width);
      uint32_t length_distortion_model = strlen(this->distortion_model);
      varToArr(outbuffer + offset, length_distortion_model);
      offset += 4;
      memcpy(outbuffer + offset, this->distortion_model, length_distortion_model);
      offset += length_distortion_model;
      *(outbuffer + offset + 0) = (this->D_length >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->D_length >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->D_length >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->D_length >> (8 * 3)) & 0xFF;
      offset += sizeof(this->D_length);
      for( uint32_t i = 0; i < D_length; i++){
      union {
        double real;
        uint64_t base;
      } u_Di;
      u_Di.real = this->D[i];
      *(outbuffer + offset + 0) = (u_Di.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_Di.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_Di.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_Di.base >> (8 * 3)) & 0xFF;
      *(outbuffer + offset + 4) = (u_Di.base >> (8 * 4)) & 0xFF;
      *(outbuffer + offset + 5) = (u_Di.base >> (8 * 5)) & 0xFF;
      *(outbuffer + offset + 6) = (u_Di.base >> (8 * 6)) & 0xFF;
      *(outbuffer + offset + 7) = (u_Di.base >> (8 * 7)) & 0xFF;
      offset += sizeof(this->D[i]);
      }
      for( uint32_t i = 0; i < 9; i++){
      union {
        double real;
        uint64_t base;
      } u_Ki;
      u_Ki.real = this->K[i];
      *(outbuffer + offset + 0) = (u_Ki.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_Ki.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_Ki.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_Ki.base >> (8 * 3)) & 0xFF;
      *(outbuffer + offset + 4) = (u_Ki.base >> (8 * 4)) & 0xFF;
      *(outbuffer + offset + 5) = (u_Ki.base >> (8 * 5)) & 0xFF;
      *(outbuffer + offset + 6) = (u_Ki.base >> (8 * 6)) & 0xFF;
      *(outbuffer + offset + 7) = (u_Ki.base >> (8 * 7)) & 0xFF;
      offset += sizeof(this->K[i]);
      }
      for( uint32_t i = 0; i < 9; i++){
      union {
        double real;
        uint64_t base;
      } u_Ri;
      u_Ri.real = this->R[i];
      *(outbuffer + offset + 0) = (u_Ri.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_Ri.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_Ri.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_Ri.base >> (8 * 3)) & 0xFF;
      *(outbuffer + offset + 4) = (u_Ri.base >> (8 * 4)) & 0xFF;
      *(outbuffer + offset + 5) = (u_Ri.base >> (8 * 5)) & 0xFF;
      *(outbuffer + offset + 6) = (u_Ri.base >> (8 * 6)) & 0xFF;
      *(outbuffer + offset + 7) = (u_Ri.base >> (8 * 7)) & 0xFF;
      offset += sizeof(this->R[i]);
      }
      for( uint32_t i = 0; i < 12; i++){
      union {
        double real;
        uint64_t base;
      } u_Pi;
      u_Pi.real = this->P[i];
      *(outbuffer + offset + 0) = (u_Pi.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_Pi.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_Pi.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_Pi.base >> (8 * 3)) & 0xFF;
      *(outbuffer + offset + 4) = (u_Pi.base >> (8 * 4)) & 0xFF;
      *(outbuffer + offset + 5) = (u_Pi.base >> (8 * 5)) & 0xFF;
      *(outbuffer + offset + 6) = (u_Pi.base >> (8 * 6)) & 0xFF;
      *(outbuffer + offset + 7) = (u_Pi.base >> (8 * 7)) & 0xFF;
      offset += sizeof(this->P[i]);
      }
      *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF;
      offset += sizeof(this->binning_x);
      *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF;
      offset += sizeof(this->binning_y);
      offset += this->roi.serialize(outbuffer + offset);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      offset += this->header.deserialize(inbuffer + offset);
      this->height =  ((uint32_t) (*(inbuffer + offset)));
      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->height);
      this->width =  ((uint32_t) (*(inbuffer + offset)));
      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->width);
      uint32_t length_distortion_model;
      arrToVar(length_distortion_model, (inbuffer + offset));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_distortion_model; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_distortion_model-1]=0;
      this->distortion_model = (char *)(inbuffer + offset-1);
      offset += length_distortion_model;
      uint32_t D_lengthT = ((uint32_t) (*(inbuffer + offset))); 
      D_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
      D_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
      D_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
      offset += sizeof(this->D_length);
      if(D_lengthT > D_length)
        this->D = (double*)realloc(this->D, D_lengthT * sizeof(double));
      D_length = D_lengthT;
      for( uint32_t i = 0; i < D_length; i++){
      union {
        double real;
        uint64_t base;
      } u_st_D;
      u_st_D.base = 0;
      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
      this->st_D = u_st_D.real;
      offset += sizeof(this->st_D);
        memcpy( &(this->D[i]), &(this->st_D), sizeof(double));
      }
      for( uint32_t i = 0; i < 9; i++){
      union {
        double real;
        uint64_t base;
      } u_Ki;
      u_Ki.base = 0;
      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
      this->K[i] = u_Ki.real;
      offset += sizeof(this->K[i]);
      }
      for( uint32_t i = 0; i < 9; i++){
      union {
        double real;
        uint64_t base;
      } u_Ri;
      u_Ri.base = 0;
      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
      this->R[i] = u_Ri.real;
      offset += sizeof(this->R[i]);
      }
      for( uint32_t i = 0; i < 12; i++){
      union {
        double real;
        uint64_t base;
      } u_Pi;
      u_Pi.base = 0;
      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
      this->P[i] = u_Pi.real;
      offset += sizeof(this->P[i]);
      }
      this->binning_x =  ((uint32_t) (*(inbuffer + offset)));
      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->binning_x);
      this->binning_y =  ((uint32_t) (*(inbuffer + offset)));
      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->binning_y);
      offset += this->roi.deserialize(inbuffer + offset);
     return offset;
    }

    const char * getType(){ return "sensor_msgs/CameraInfo"; };
    const char * getMD5(){ return "c9a58c1b0b154e0e6da7578cb991d214"; };

  };

}
#endif