Gary Servin
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
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();
}
}
Diff: actionlib_tutorials/FibonacciResult.h
- Revision:
- 0:9e9b7db60fd5
diff -r 000000000000 -r 9e9b7db60fd5 actionlib_tutorials/FibonacciResult.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/FibonacciResult.h Sat Dec 31 00:48:34 2016 +0000
@@ -0,0 +1,82 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciResult_h
+#define _ROS_actionlib_tutorials_FibonacciResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib_tutorials
+{
+
+ class FibonacciResult : public ros::Msg
+ {
+ public:
+ uint32_t sequence_length;
+ typedef int32_t _sequence_type;
+ _sequence_type st_sequence;
+ _sequence_type * sequence;
+
+ FibonacciResult():
+ sequence_length(0), sequence(NULL)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ *(outbuffer + offset + 0) = (this->sequence_length >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->sequence_length >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->sequence_length >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->sequence_length >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->sequence_length);
+ for( uint32_t i = 0; i < sequence_length; i++){
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_sequencei;
+ u_sequencei.real = this->sequence[i];
+ *(outbuffer + offset + 0) = (u_sequencei.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_sequencei.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_sequencei.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_sequencei.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->sequence[i]);
+ }
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ uint32_t sequence_lengthT = ((uint32_t) (*(inbuffer + offset)));
+ sequence_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ sequence_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ sequence_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->sequence_length);
+ if(sequence_lengthT > sequence_length)
+ this->sequence = (int32_t*)realloc(this->sequence, sequence_lengthT * sizeof(int32_t));
+ sequence_length = sequence_lengthT;
+ for( uint32_t i = 0; i < sequence_length; i++){
+ union {
+ int32_t real;
+ uint32_t base;
+ } u_st_sequence;
+ u_st_sequence.base = 0;
+ u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->st_sequence = u_st_sequence.real;
+ offset += sizeof(this->st_sequence);
+ memcpy( &(this->sequence[i]), &(this->st_sequence), sizeof(int32_t));
+ }
+ return offset;
+ }
+
+ const char * getType(){ return "actionlib_tutorials/FibonacciResult"; };
+ const char * getMD5(){ return "b81e37d2a31925a0e8ae261a8699cb79"; };
+
+ };
+
+}
+#endif
\ No newline at end of file