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
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(); } }
tf2_msgs/LookupTransformGoal.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 1:a849bf78d77f
- Parent:
- 0:9e9b7db60fd5
File content as of revision 1:a849bf78d77f:
#ifndef _ROS_tf2_msgs_LookupTransformGoal_h #define _ROS_tf2_msgs_LookupTransformGoal_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "ros/time.h" #include "ros/duration.h" namespace tf2_msgs { class LookupTransformGoal : public ros::Msg { public: typedef const char* _target_frame_type; _target_frame_type target_frame; typedef const char* _source_frame_type; _source_frame_type source_frame; typedef ros::Time _source_time_type; _source_time_type source_time; typedef ros::Duration _timeout_type; _timeout_type timeout; typedef ros::Time _target_time_type; _target_time_type target_time; typedef const char* _fixed_frame_type; _fixed_frame_type fixed_frame; typedef bool _advanced_type; _advanced_type advanced; LookupTransformGoal(): target_frame(""), source_frame(""), source_time(), timeout(), target_time(), fixed_frame(""), advanced(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_target_frame = strlen(this->target_frame); varToArr(outbuffer + offset, length_target_frame); offset += 4; memcpy(outbuffer + offset, this->target_frame, length_target_frame); offset += length_target_frame; uint32_t length_source_frame = strlen(this->source_frame); varToArr(outbuffer + offset, length_source_frame); offset += 4; memcpy(outbuffer + offset, this->source_frame, length_source_frame); offset += length_source_frame; *(outbuffer + offset + 0) = (this->source_time.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->source_time.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->source_time.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->source_time.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->source_time.sec); *(outbuffer + offset + 0) = (this->source_time.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->source_time.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->source_time.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->source_time.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->source_time.nsec); *(outbuffer + offset + 0) = (this->timeout.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->timeout.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->timeout.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->timeout.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->timeout.sec); *(outbuffer + offset + 0) = (this->timeout.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->timeout.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->timeout.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->timeout.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->timeout.nsec); *(outbuffer + offset + 0) = (this->target_time.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->target_time.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->target_time.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->target_time.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->target_time.sec); *(outbuffer + offset + 0) = (this->target_time.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->target_time.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->target_time.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->target_time.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->target_time.nsec); uint32_t length_fixed_frame = strlen(this->fixed_frame); varToArr(outbuffer + offset, length_fixed_frame); offset += 4; memcpy(outbuffer + offset, this->fixed_frame, length_fixed_frame); offset += length_fixed_frame; union { bool real; uint8_t base; } u_advanced; u_advanced.real = this->advanced; *(outbuffer + offset + 0) = (u_advanced.base >> (8 * 0)) & 0xFF; offset += sizeof(this->advanced); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_target_frame; arrToVar(length_target_frame, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_target_frame; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_target_frame-1]=0; this->target_frame = (char *)(inbuffer + offset-1); offset += length_target_frame; uint32_t length_source_frame; arrToVar(length_source_frame, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_source_frame; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_source_frame-1]=0; this->source_frame = (char *)(inbuffer + offset-1); offset += length_source_frame; this->source_time.sec = ((uint32_t) (*(inbuffer + offset))); this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->source_time.sec); this->source_time.nsec = ((uint32_t) (*(inbuffer + offset))); this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->source_time.nsec); this->timeout.sec = ((uint32_t) (*(inbuffer + offset))); this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->timeout.sec); this->timeout.nsec = ((uint32_t) (*(inbuffer + offset))); this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->timeout.nsec); this->target_time.sec = ((uint32_t) (*(inbuffer + offset))); this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->target_time.sec); this->target_time.nsec = ((uint32_t) (*(inbuffer + offset))); this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->target_time.nsec); uint32_t length_fixed_frame; arrToVar(length_fixed_frame, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_fixed_frame; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_fixed_frame-1]=0; this->fixed_frame = (char *)(inbuffer + offset-1); offset += length_fixed_frame; union { bool real; uint8_t base; } u_advanced; u_advanced.base = 0; u_advanced.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); this->advanced = u_advanced.real; offset += sizeof(this->advanced); return offset; } const char * getType(){ return "tf2_msgs/LookupTransformGoal"; }; const char * getMD5(){ return "35e3720468131d675a18bb6f3e5f22f8"; }; }; } #endif