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/PointCloud2.h

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

File content as of revision 1:a849bf78d77f:

#ifndef _ROS_sensor_msgs_PointCloud2_h
#define _ROS_sensor_msgs_PointCloud2_h

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

namespace sensor_msgs
{

  class PointCloud2 : 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;
      uint32_t fields_length;
      typedef sensor_msgs::PointField _fields_type;
      _fields_type st_fields;
      _fields_type * fields;
      typedef bool _is_bigendian_type;
      _is_bigendian_type is_bigendian;
      typedef uint32_t _point_step_type;
      _point_step_type point_step;
      typedef uint32_t _row_step_type;
      _row_step_type row_step;
      uint32_t data_length;
      typedef uint8_t _data_type;
      _data_type st_data;
      _data_type * data;
      typedef bool _is_dense_type;
      _is_dense_type is_dense;

    PointCloud2():
      header(),
      height(0),
      width(0),
      fields_length(0), fields(NULL),
      is_bigendian(0),
      point_step(0),
      row_step(0),
      data_length(0), data(NULL),
      is_dense(0)
    {
    }

    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);
      *(outbuffer + offset + 0) = (this->fields_length >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->fields_length >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->fields_length >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->fields_length >> (8 * 3)) & 0xFF;
      offset += sizeof(this->fields_length);
      for( uint32_t i = 0; i < fields_length; i++){
      offset += this->fields[i].serialize(outbuffer + offset);
      }
      union {
        bool real;
        uint8_t base;
      } u_is_bigendian;
      u_is_bigendian.real = this->is_bigendian;
      *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF;
      offset += sizeof(this->is_bigendian);
      *(outbuffer + offset + 0) = (this->point_step >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->point_step >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->point_step >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->point_step >> (8 * 3)) & 0xFF;
      offset += sizeof(this->point_step);
      *(outbuffer + offset + 0) = (this->row_step >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->row_step >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->row_step >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->row_step >> (8 * 3)) & 0xFF;
      offset += sizeof(this->row_step);
      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
      offset += sizeof(this->data_length);
      for( uint32_t i = 0; i < data_length; i++){
      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
      offset += sizeof(this->data[i]);
      }
      union {
        bool real;
        uint8_t base;
      } u_is_dense;
      u_is_dense.real = this->is_dense;
      *(outbuffer + offset + 0) = (u_is_dense.base >> (8 * 0)) & 0xFF;
      offset += sizeof(this->is_dense);
      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 fields_lengthT = ((uint32_t) (*(inbuffer + offset))); 
      fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
      fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
      fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
      offset += sizeof(this->fields_length);
      if(fields_lengthT > fields_length)
        this->fields = (sensor_msgs::PointField*)realloc(this->fields, fields_lengthT * sizeof(sensor_msgs::PointField));
      fields_length = fields_lengthT;
      for( uint32_t i = 0; i < fields_length; i++){
      offset += this->st_fields.deserialize(inbuffer + offset);
        memcpy( &(this->fields[i]), &(this->st_fields), sizeof(sensor_msgs::PointField));
      }
      union {
        bool real;
        uint8_t base;
      } u_is_bigendian;
      u_is_bigendian.base = 0;
      u_is_bigendian.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
      this->is_bigendian = u_is_bigendian.real;
      offset += sizeof(this->is_bigendian);
      this->point_step =  ((uint32_t) (*(inbuffer + offset)));
      this->point_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->point_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->point_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->point_step);
      this->row_step =  ((uint32_t) (*(inbuffer + offset)));
      this->row_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->row_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->row_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->row_step);
      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
      offset += sizeof(this->data_length);
      if(data_lengthT > data_length)
        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
      data_length = data_lengthT;
      for( uint32_t i = 0; i < data_length; i++){
      this->st_data =  ((uint8_t) (*(inbuffer + offset)));
      offset += sizeof(this->st_data);
        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
      }
      union {
        bool real;
        uint8_t base;
      } u_is_dense;
      u_is_dense.base = 0;
      u_is_dense.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
      this->is_dense = u_is_dense.real;
      offset += sizeof(this->is_dense);
     return offset;
    }

    const char * getType(){ return "sensor_msgs/PointCloud2"; };
    const char * getMD5(){ return "1158d486dd51d683ce2f1be655c3c181"; };

  };

}
#endif