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(); } }
std_srvs/Trigger.h@0:9e9b7db60fd5, 2016-12-31 (annotated)
- Committer:
- garyservin
- Date:
- Sat Dec 31 00:48:34 2016 +0000
- Revision:
- 0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_SERVICE_Trigger_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_Trigger_h |
garyservin | 0:9e9b7db60fd5 | 3 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 4 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 7 | |
garyservin | 0:9e9b7db60fd5 | 8 | namespace std_srvs |
garyservin | 0:9e9b7db60fd5 | 9 | { |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | static const char TRIGGER[] = "std_srvs/Trigger"; |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class TriggerRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 14 | { |
garyservin | 0:9e9b7db60fd5 | 15 | public: |
garyservin | 0:9e9b7db60fd5 | 16 | |
garyservin | 0:9e9b7db60fd5 | 17 | TriggerRequest() |
garyservin | 0:9e9b7db60fd5 | 18 | { |
garyservin | 0:9e9b7db60fd5 | 19 | } |
garyservin | 0:9e9b7db60fd5 | 20 | |
garyservin | 0:9e9b7db60fd5 | 21 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 22 | { |
garyservin | 0:9e9b7db60fd5 | 23 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 24 | return offset; |
garyservin | 0:9e9b7db60fd5 | 25 | } |
garyservin | 0:9e9b7db60fd5 | 26 | |
garyservin | 0:9e9b7db60fd5 | 27 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 28 | { |
garyservin | 0:9e9b7db60fd5 | 29 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 30 | return offset; |
garyservin | 0:9e9b7db60fd5 | 31 | } |
garyservin | 0:9e9b7db60fd5 | 32 | |
garyservin | 0:9e9b7db60fd5 | 33 | const char * getType(){ return TRIGGER; }; |
garyservin | 0:9e9b7db60fd5 | 34 | const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; |
garyservin | 0:9e9b7db60fd5 | 35 | |
garyservin | 0:9e9b7db60fd5 | 36 | }; |
garyservin | 0:9e9b7db60fd5 | 37 | |
garyservin | 0:9e9b7db60fd5 | 38 | class TriggerResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 39 | { |
garyservin | 0:9e9b7db60fd5 | 40 | public: |
garyservin | 0:9e9b7db60fd5 | 41 | typedef bool _success_type; |
garyservin | 0:9e9b7db60fd5 | 42 | _success_type success; |
garyservin | 0:9e9b7db60fd5 | 43 | typedef const char* _message_type; |
garyservin | 0:9e9b7db60fd5 | 44 | _message_type message; |
garyservin | 0:9e9b7db60fd5 | 45 | |
garyservin | 0:9e9b7db60fd5 | 46 | TriggerResponse(): |
garyservin | 0:9e9b7db60fd5 | 47 | success(0), |
garyservin | 0:9e9b7db60fd5 | 48 | message("") |
garyservin | 0:9e9b7db60fd5 | 49 | { |
garyservin | 0:9e9b7db60fd5 | 50 | } |
garyservin | 0:9e9b7db60fd5 | 51 | |
garyservin | 0:9e9b7db60fd5 | 52 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 53 | { |
garyservin | 0:9e9b7db60fd5 | 54 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 55 | union { |
garyservin | 0:9e9b7db60fd5 | 56 | bool real; |
garyservin | 0:9e9b7db60fd5 | 57 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 58 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 59 | u_success.real = this->success; |
garyservin | 0:9e9b7db60fd5 | 60 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 61 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 62 | uint32_t length_message = strlen(this->message); |
garyservin | 0:9e9b7db60fd5 | 63 | varToArr(outbuffer + offset, length_message); |
garyservin | 0:9e9b7db60fd5 | 64 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 65 | memcpy(outbuffer + offset, this->message, length_message); |
garyservin | 0:9e9b7db60fd5 | 66 | offset += length_message; |
garyservin | 0:9e9b7db60fd5 | 67 | return offset; |
garyservin | 0:9e9b7db60fd5 | 68 | } |
garyservin | 0:9e9b7db60fd5 | 69 | |
garyservin | 0:9e9b7db60fd5 | 70 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 71 | { |
garyservin | 0:9e9b7db60fd5 | 72 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 73 | union { |
garyservin | 0:9e9b7db60fd5 | 74 | bool real; |
garyservin | 0:9e9b7db60fd5 | 75 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 76 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 77 | u_success.base = 0; |
garyservin | 0:9e9b7db60fd5 | 78 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 79 | this->success = u_success.real; |
garyservin | 0:9e9b7db60fd5 | 80 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 81 | uint32_t length_message; |
garyservin | 0:9e9b7db60fd5 | 82 | arrToVar(length_message, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 83 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 84 | for(unsigned int k= offset; k< offset+length_message; ++k){ |
garyservin | 0:9e9b7db60fd5 | 85 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 86 | } |
garyservin | 0:9e9b7db60fd5 | 87 | inbuffer[offset+length_message-1]=0; |
garyservin | 0:9e9b7db60fd5 | 88 | this->message = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 89 | offset += length_message; |
garyservin | 0:9e9b7db60fd5 | 90 | return offset; |
garyservin | 0:9e9b7db60fd5 | 91 | } |
garyservin | 0:9e9b7db60fd5 | 92 | |
garyservin | 0:9e9b7db60fd5 | 93 | const char * getType(){ return TRIGGER; }; |
garyservin | 0:9e9b7db60fd5 | 94 | const char * getMD5(){ return "937c9679a518e3a18d831e57125ea522"; }; |
garyservin | 0:9e9b7db60fd5 | 95 | |
garyservin | 0:9e9b7db60fd5 | 96 | }; |
garyservin | 0:9e9b7db60fd5 | 97 | |
garyservin | 0:9e9b7db60fd5 | 98 | class Trigger { |
garyservin | 0:9e9b7db60fd5 | 99 | public: |
garyservin | 0:9e9b7db60fd5 | 100 | typedef TriggerRequest Request; |
garyservin | 0:9e9b7db60fd5 | 101 | typedef TriggerResponse Response; |
garyservin | 0:9e9b7db60fd5 | 102 | }; |
garyservin | 0:9e9b7db60fd5 | 103 | |
garyservin | 0:9e9b7db60fd5 | 104 | } |
garyservin | 0:9e9b7db60fd5 | 105 | #endif |