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/LaserScan.h

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

File content as of revision 1:a849bf78d77f:

#ifndef _ROS_sensor_msgs_LaserScan_h
#define _ROS_sensor_msgs_LaserScan_h

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

namespace sensor_msgs
{

  class LaserScan : public ros::Msg
  {
    public:
      typedef std_msgs::Header _header_type;
      _header_type header;
      typedef float _angle_min_type;
      _angle_min_type angle_min;
      typedef float _angle_max_type;
      _angle_max_type angle_max;
      typedef float _angle_increment_type;
      _angle_increment_type angle_increment;
      typedef float _time_increment_type;
      _time_increment_type time_increment;
      typedef float _scan_time_type;
      _scan_time_type scan_time;
      typedef float _range_min_type;
      _range_min_type range_min;
      typedef float _range_max_type;
      _range_max_type range_max;
      uint32_t ranges_length;
      typedef float _ranges_type;
      _ranges_type st_ranges;
      _ranges_type * ranges;
      uint32_t intensities_length;
      typedef float _intensities_type;
      _intensities_type st_intensities;
      _intensities_type * intensities;

    LaserScan():
      header(),
      angle_min(0),
      angle_max(0),
      angle_increment(0),
      time_increment(0),
      scan_time(0),
      range_min(0),
      range_max(0),
      ranges_length(0), ranges(NULL),
      intensities_length(0), intensities(NULL)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      offset += this->header.serialize(outbuffer + offset);
      union {
        float real;
        uint32_t base;
      } u_angle_min;
      u_angle_min.real = this->angle_min;
      *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->angle_min);
      union {
        float real;
        uint32_t base;
      } u_angle_max;
      u_angle_max.real = this->angle_max;
      *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->angle_max);
      union {
        float real;
        uint32_t base;
      } u_angle_increment;
      u_angle_increment.real = this->angle_increment;
      *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->angle_increment);
      union {
        float real;
        uint32_t base;
      } u_time_increment;
      u_time_increment.real = this->time_increment;
      *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->time_increment);
      union {
        float real;
        uint32_t base;
      } u_scan_time;
      u_scan_time.real = this->scan_time;
      *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->scan_time);
      union {
        float real;
        uint32_t base;
      } u_range_min;
      u_range_min.real = this->range_min;
      *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->range_min);
      union {
        float real;
        uint32_t base;
      } u_range_max;
      u_range_max.real = this->range_max;
      *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->range_max);
      *(outbuffer + offset + 0) = (this->ranges_length >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->ranges_length >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->ranges_length >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->ranges_length >> (8 * 3)) & 0xFF;
      offset += sizeof(this->ranges_length);
      for( uint32_t i = 0; i < ranges_length; i++){
      union {
        float real;
        uint32_t base;
      } u_rangesi;
      u_rangesi.real = this->ranges[i];
      *(outbuffer + offset + 0) = (u_rangesi.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_rangesi.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_rangesi.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_rangesi.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->ranges[i]);
      }
      *(outbuffer + offset + 0) = (this->intensities_length >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->intensities_length >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->intensities_length >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->intensities_length >> (8 * 3)) & 0xFF;
      offset += sizeof(this->intensities_length);
      for( uint32_t i = 0; i < intensities_length; i++){
      union {
        float real;
        uint32_t base;
      } u_intensitiesi;
      u_intensitiesi.real = this->intensities[i];
      *(outbuffer + offset + 0) = (u_intensitiesi.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_intensitiesi.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_intensitiesi.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_intensitiesi.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->intensities[i]);
      }
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      offset += this->header.deserialize(inbuffer + offset);
      union {
        float real;
        uint32_t base;
      } u_angle_min;
      u_angle_min.base = 0;
      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->angle_min = u_angle_min.real;
      offset += sizeof(this->angle_min);
      union {
        float real;
        uint32_t base;
      } u_angle_max;
      u_angle_max.base = 0;
      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->angle_max = u_angle_max.real;
      offset += sizeof(this->angle_max);
      union {
        float real;
        uint32_t base;
      } u_angle_increment;
      u_angle_increment.base = 0;
      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->angle_increment = u_angle_increment.real;
      offset += sizeof(this->angle_increment);
      union {
        float real;
        uint32_t base;
      } u_time_increment;
      u_time_increment.base = 0;
      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->time_increment = u_time_increment.real;
      offset += sizeof(this->time_increment);
      union {
        float real;
        uint32_t base;
      } u_scan_time;
      u_scan_time.base = 0;
      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->scan_time = u_scan_time.real;
      offset += sizeof(this->scan_time);
      union {
        float real;
        uint32_t base;
      } u_range_min;
      u_range_min.base = 0;
      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->range_min = u_range_min.real;
      offset += sizeof(this->range_min);
      union {
        float real;
        uint32_t base;
      } u_range_max;
      u_range_max.base = 0;
      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->range_max = u_range_max.real;
      offset += sizeof(this->range_max);
      uint32_t ranges_lengthT = ((uint32_t) (*(inbuffer + offset))); 
      ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
      ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
      ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
      offset += sizeof(this->ranges_length);
      if(ranges_lengthT > ranges_length)
        this->ranges = (float*)realloc(this->ranges, ranges_lengthT * sizeof(float));
      ranges_length = ranges_lengthT;
      for( uint32_t i = 0; i < ranges_length; i++){
      union {
        float real;
        uint32_t base;
      } u_st_ranges;
      u_st_ranges.base = 0;
      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->st_ranges = u_st_ranges.real;
      offset += sizeof(this->st_ranges);
        memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(float));
      }
      uint32_t intensities_lengthT = ((uint32_t) (*(inbuffer + offset))); 
      intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
      intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
      intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
      offset += sizeof(this->intensities_length);
      if(intensities_lengthT > intensities_length)
        this->intensities = (float*)realloc(this->intensities, intensities_lengthT * sizeof(float));
      intensities_length = intensities_lengthT;
      for( uint32_t i = 0; i < intensities_length; i++){
      union {
        float real;
        uint32_t base;
      } u_st_intensities;
      u_st_intensities.base = 0;
      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->st_intensities = u_st_intensities.real;
      offset += sizeof(this->st_intensities);
        memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(float));
      }
     return offset;
    }

    const char * getType(){ return "sensor_msgs/LaserScan"; };
    const char * getMD5(){ return "90c7ef2dc6895d81024acba2ac42f369"; };

  };

}
#endif