ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: rosserial_mbed_hello_world_publisher_melodic Motortest Nucleo_vr_servo_project NucleoFM ... more
ROSSerial_mbed for Melodic 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_melodic
rosserial_mbed Hello World example for Melodic Morenia 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(); } }
diagnostic_msgs/KeyValue.h@0:04ac6be8229a, 2019-11-08 (annotated)
- Committer:
- Gary Servin
- Date:
- Fri Nov 08 14:38:09 2019 -0300
- Revision:
- 0:04ac6be8229a
Initial commit, generated based on a clean melodic-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gary Servin |
0:04ac6be8229a | 1 | #ifndef _ROS_diagnostic_msgs_KeyValue_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_diagnostic_msgs_KeyValue_h |
Gary Servin |
0:04ac6be8229a | 3 | |
Gary Servin |
0:04ac6be8229a | 4 | #include <stdint.h> |
Gary Servin |
0:04ac6be8229a | 5 | #include <string.h> |
Gary Servin |
0:04ac6be8229a | 6 | #include <stdlib.h> |
Gary Servin |
0:04ac6be8229a | 7 | #include "ros/msg.h" |
Gary Servin |
0:04ac6be8229a | 8 | |
Gary Servin |
0:04ac6be8229a | 9 | namespace diagnostic_msgs |
Gary Servin |
0:04ac6be8229a | 10 | { |
Gary Servin |
0:04ac6be8229a | 11 | |
Gary Servin |
0:04ac6be8229a | 12 | class KeyValue : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 13 | { |
Gary Servin |
0:04ac6be8229a | 14 | public: |
Gary Servin |
0:04ac6be8229a | 15 | typedef const char* _key_type; |
Gary Servin |
0:04ac6be8229a | 16 | _key_type key; |
Gary Servin |
0:04ac6be8229a | 17 | typedef const char* _value_type; |
Gary Servin |
0:04ac6be8229a | 18 | _value_type value; |
Gary Servin |
0:04ac6be8229a | 19 | |
Gary Servin |
0:04ac6be8229a | 20 | KeyValue(): |
Gary Servin |
0:04ac6be8229a | 21 | key(""), |
Gary Servin |
0:04ac6be8229a | 22 | value("") |
Gary Servin |
0:04ac6be8229a | 23 | { |
Gary Servin |
0:04ac6be8229a | 24 | } |
Gary Servin |
0:04ac6be8229a | 25 | |
Gary Servin |
0:04ac6be8229a | 26 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 27 | { |
Gary Servin |
0:04ac6be8229a | 28 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 29 | uint32_t length_key = strlen(this->key); |
Gary Servin |
0:04ac6be8229a | 30 | varToArr(outbuffer + offset, length_key); |
Gary Servin |
0:04ac6be8229a | 31 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 32 | memcpy(outbuffer + offset, this->key, length_key); |
Gary Servin |
0:04ac6be8229a | 33 | offset += length_key; |
Gary Servin |
0:04ac6be8229a | 34 | uint32_t length_value = strlen(this->value); |
Gary Servin |
0:04ac6be8229a | 35 | varToArr(outbuffer + offset, length_value); |
Gary Servin |
0:04ac6be8229a | 36 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 37 | memcpy(outbuffer + offset, this->value, length_value); |
Gary Servin |
0:04ac6be8229a | 38 | offset += length_value; |
Gary Servin |
0:04ac6be8229a | 39 | return offset; |
Gary Servin |
0:04ac6be8229a | 40 | } |
Gary Servin |
0:04ac6be8229a | 41 | |
Gary Servin |
0:04ac6be8229a | 42 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 43 | { |
Gary Servin |
0:04ac6be8229a | 44 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 45 | uint32_t length_key; |
Gary Servin |
0:04ac6be8229a | 46 | arrToVar(length_key, (inbuffer + offset)); |
Gary Servin |
0:04ac6be8229a | 47 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 48 | for(unsigned int k= offset; k< offset+length_key; ++k){ |
Gary Servin |
0:04ac6be8229a | 49 | inbuffer[k-1]=inbuffer[k]; |
Gary Servin |
0:04ac6be8229a | 50 | } |
Gary Servin |
0:04ac6be8229a | 51 | inbuffer[offset+length_key-1]=0; |
Gary Servin |
0:04ac6be8229a | 52 | this->key = (char *)(inbuffer + offset-1); |
Gary Servin |
0:04ac6be8229a | 53 | offset += length_key; |
Gary Servin |
0:04ac6be8229a | 54 | uint32_t length_value; |
Gary Servin |
0:04ac6be8229a | 55 | arrToVar(length_value, (inbuffer + offset)); |
Gary Servin |
0:04ac6be8229a | 56 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 57 | for(unsigned int k= offset; k< offset+length_value; ++k){ |
Gary Servin |
0:04ac6be8229a | 58 | inbuffer[k-1]=inbuffer[k]; |
Gary Servin |
0:04ac6be8229a | 59 | } |
Gary Servin |
0:04ac6be8229a | 60 | inbuffer[offset+length_value-1]=0; |
Gary Servin |
0:04ac6be8229a | 61 | this->value = (char *)(inbuffer + offset-1); |
Gary Servin |
0:04ac6be8229a | 62 | offset += length_value; |
Gary Servin |
0:04ac6be8229a | 63 | return offset; |
Gary Servin |
0:04ac6be8229a | 64 | } |
Gary Servin |
0:04ac6be8229a | 65 | |
Gary Servin |
0:04ac6be8229a | 66 | const char * getType(){ return "diagnostic_msgs/KeyValue"; }; |
Gary Servin |
0:04ac6be8229a | 67 | const char * getMD5(){ return "cf57fdc6617a881a88c16e768132149c"; }; |
Gary Servin |
0:04ac6be8229a | 68 | |
Gary Servin |
0:04ac6be8229a | 69 | }; |
Gary Servin |
0:04ac6be8229a | 70 | |
Gary Servin |
0:04ac6be8229a | 71 | } |
Gary Servin |
0:04ac6be8229a | 72 | #endif |