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(); } }
ros/msg.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 | /* |
Gary Servin |
0:04ac6be8229a | 2 | * Software License Agreement (BSD License) |
Gary Servin |
0:04ac6be8229a | 3 | * |
Gary Servin |
0:04ac6be8229a | 4 | * Copyright (c) 2011, Willow Garage, Inc. |
Gary Servin |
0:04ac6be8229a | 5 | * All rights reserved. |
Gary Servin |
0:04ac6be8229a | 6 | * |
Gary Servin |
0:04ac6be8229a | 7 | * Redistribution and use in source and binary forms, with or without |
Gary Servin |
0:04ac6be8229a | 8 | * modification, are permitted provided that the following conditions |
Gary Servin |
0:04ac6be8229a | 9 | * are met: |
Gary Servin |
0:04ac6be8229a | 10 | * |
Gary Servin |
0:04ac6be8229a | 11 | * * Redistributions of source code must retain the above copyright |
Gary Servin |
0:04ac6be8229a | 12 | * notice, this list of conditions and the following disclaimer. |
Gary Servin |
0:04ac6be8229a | 13 | * * Redistributions in binary form must reproduce the above |
Gary Servin |
0:04ac6be8229a | 14 | * copyright notice, this list of conditions and the following |
Gary Servin |
0:04ac6be8229a | 15 | * disclaimer in the documentation and/or other materials provided |
Gary Servin |
0:04ac6be8229a | 16 | * with the distribution. |
Gary Servin |
0:04ac6be8229a | 17 | * * Neither the name of Willow Garage, Inc. nor the names of its |
Gary Servin |
0:04ac6be8229a | 18 | * contributors may be used to endorse or promote prducts derived |
Gary Servin |
0:04ac6be8229a | 19 | * from this software without specific prior written permission. |
Gary Servin |
0:04ac6be8229a | 20 | * |
Gary Servin |
0:04ac6be8229a | 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
Gary Servin |
0:04ac6be8229a | 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
Gary Servin |
0:04ac6be8229a | 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
Gary Servin |
0:04ac6be8229a | 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
Gary Servin |
0:04ac6be8229a | 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
Gary Servin |
0:04ac6be8229a | 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
Gary Servin |
0:04ac6be8229a | 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
Gary Servin |
0:04ac6be8229a | 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
Gary Servin |
0:04ac6be8229a | 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
Gary Servin |
0:04ac6be8229a | 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
Gary Servin |
0:04ac6be8229a | 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
Gary Servin |
0:04ac6be8229a | 32 | * POSSIBILITY OF SUCH DAMAGE. |
Gary Servin |
0:04ac6be8229a | 33 | */ |
Gary Servin |
0:04ac6be8229a | 34 | |
Gary Servin |
0:04ac6be8229a | 35 | #ifndef _ROS_MSG_H_ |
Gary Servin |
0:04ac6be8229a | 36 | #define _ROS_MSG_H_ |
Gary Servin |
0:04ac6be8229a | 37 | |
Gary Servin |
0:04ac6be8229a | 38 | #include <stdint.h> |
Gary Servin |
0:04ac6be8229a | 39 | #include <stddef.h> |
Gary Servin |
0:04ac6be8229a | 40 | |
Gary Servin |
0:04ac6be8229a | 41 | namespace ros |
Gary Servin |
0:04ac6be8229a | 42 | { |
Gary Servin |
0:04ac6be8229a | 43 | |
Gary Servin |
0:04ac6be8229a | 44 | /* Base Message Type */ |
Gary Servin |
0:04ac6be8229a | 45 | class Msg |
Gary Servin |
0:04ac6be8229a | 46 | { |
Gary Servin |
0:04ac6be8229a | 47 | public: |
Gary Servin |
0:04ac6be8229a | 48 | virtual int serialize(unsigned char *outbuffer) const = 0; |
Gary Servin |
0:04ac6be8229a | 49 | virtual int deserialize(unsigned char *data) = 0; |
Gary Servin |
0:04ac6be8229a | 50 | virtual const char * getType() = 0; |
Gary Servin |
0:04ac6be8229a | 51 | virtual const char * getMD5() = 0; |
Gary Servin |
0:04ac6be8229a | 52 | |
Gary Servin |
0:04ac6be8229a | 53 | /** |
Gary Servin |
0:04ac6be8229a | 54 | * @brief This tricky function handles promoting a 32bit float to a 64bit |
Gary Servin |
0:04ac6be8229a | 55 | * double, so that AVR can publish messages containing float64 |
Gary Servin |
0:04ac6be8229a | 56 | * fields, despite AVV having no native support for double. |
Gary Servin |
0:04ac6be8229a | 57 | * |
Gary Servin |
0:04ac6be8229a | 58 | * @param[out] outbuffer pointer for buffer to serialize to. |
Gary Servin |
0:04ac6be8229a | 59 | * @param[in] f value to serialize. |
Gary Servin |
0:04ac6be8229a | 60 | * |
Gary Servin |
0:04ac6be8229a | 61 | * @return number of bytes to advance the buffer pointer. |
Gary Servin |
0:04ac6be8229a | 62 | * |
Gary Servin |
0:04ac6be8229a | 63 | */ |
Gary Servin |
0:04ac6be8229a | 64 | static int serializeAvrFloat64(unsigned char* outbuffer, const float f) |
Gary Servin |
0:04ac6be8229a | 65 | { |
Gary Servin |
0:04ac6be8229a | 66 | const int32_t* val = (int32_t*) &f; |
Gary Servin |
0:04ac6be8229a | 67 | int32_t exp = ((*val >> 23) & 255); |
Gary Servin |
0:04ac6be8229a | 68 | if (exp != 0) |
Gary Servin |
0:04ac6be8229a | 69 | { |
Gary Servin |
0:04ac6be8229a | 70 | exp += 1023 - 127; |
Gary Servin |
0:04ac6be8229a | 71 | } |
Gary Servin |
0:04ac6be8229a | 72 | |
Gary Servin |
0:04ac6be8229a | 73 | int32_t sig = *val; |
Gary Servin |
0:04ac6be8229a | 74 | *(outbuffer++) = 0; |
Gary Servin |
0:04ac6be8229a | 75 | *(outbuffer++) = 0; |
Gary Servin |
0:04ac6be8229a | 76 | *(outbuffer++) = 0; |
Gary Servin |
0:04ac6be8229a | 77 | *(outbuffer++) = (sig << 5) & 0xff; |
Gary Servin |
0:04ac6be8229a | 78 | *(outbuffer++) = (sig >> 3) & 0xff; |
Gary Servin |
0:04ac6be8229a | 79 | *(outbuffer++) = (sig >> 11) & 0xff; |
Gary Servin |
0:04ac6be8229a | 80 | *(outbuffer++) = ((exp << 4) & 0xF0) | ((sig >> 19) & 0x0F); |
Gary Servin |
0:04ac6be8229a | 81 | *(outbuffer++) = (exp >> 4) & 0x7F; |
Gary Servin |
0:04ac6be8229a | 82 | |
Gary Servin |
0:04ac6be8229a | 83 | // Mark negative bit as necessary. |
Gary Servin |
0:04ac6be8229a | 84 | if (f < 0) |
Gary Servin |
0:04ac6be8229a | 85 | { |
Gary Servin |
0:04ac6be8229a | 86 | *(outbuffer - 1) |= 0x80; |
Gary Servin |
0:04ac6be8229a | 87 | } |
Gary Servin |
0:04ac6be8229a | 88 | |
Gary Servin |
0:04ac6be8229a | 89 | return 8; |
Gary Servin |
0:04ac6be8229a | 90 | } |
Gary Servin |
0:04ac6be8229a | 91 | |
Gary Servin |
0:04ac6be8229a | 92 | /** |
Gary Servin |
0:04ac6be8229a | 93 | * @brief This tricky function handles demoting a 64bit double to a |
Gary Servin |
0:04ac6be8229a | 94 | * 32bit float, so that AVR can understand messages containing |
Gary Servin |
0:04ac6be8229a | 95 | * float64 fields, despite AVR having no native support for double. |
Gary Servin |
0:04ac6be8229a | 96 | * |
Gary Servin |
0:04ac6be8229a | 97 | * @param[in] inbuffer pointer for buffer to deserialize from. |
Gary Servin |
0:04ac6be8229a | 98 | * @param[out] f pointer to place the deserialized value in. |
Gary Servin |
0:04ac6be8229a | 99 | * |
Gary Servin |
0:04ac6be8229a | 100 | * @return number of bytes to advance the buffer pointer. |
Gary Servin |
0:04ac6be8229a | 101 | */ |
Gary Servin |
0:04ac6be8229a | 102 | static int deserializeAvrFloat64(const unsigned char* inbuffer, float* f) |
Gary Servin |
0:04ac6be8229a | 103 | { |
Gary Servin |
0:04ac6be8229a | 104 | uint32_t* val = (uint32_t*)f; |
Gary Servin |
0:04ac6be8229a | 105 | inbuffer += 3; |
Gary Servin |
0:04ac6be8229a | 106 | |
Gary Servin |
0:04ac6be8229a | 107 | // Copy truncated mantissa. |
Gary Servin |
0:04ac6be8229a | 108 | *val = ((uint32_t)(*(inbuffer++)) >> 5 & 0x07); |
Gary Servin |
0:04ac6be8229a | 109 | *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 3; |
Gary Servin |
0:04ac6be8229a | 110 | *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 11; |
Gary Servin |
0:04ac6be8229a | 111 | *val |= ((uint32_t)(*inbuffer) & 0x0f) << 19; |
Gary Servin |
0:04ac6be8229a | 112 | |
Gary Servin |
0:04ac6be8229a | 113 | // Copy truncated exponent. |
Gary Servin |
0:04ac6be8229a | 114 | uint32_t exp = ((uint32_t)(*(inbuffer++)) & 0xf0) >> 4; |
Gary Servin |
0:04ac6be8229a | 115 | exp |= ((uint32_t)(*inbuffer) & 0x7f) << 4; |
Gary Servin |
0:04ac6be8229a | 116 | if (exp != 0) |
Gary Servin |
0:04ac6be8229a | 117 | { |
Gary Servin |
0:04ac6be8229a | 118 | *val |= ((exp) - 1023 + 127) << 23; |
Gary Servin |
0:04ac6be8229a | 119 | } |
Gary Servin |
0:04ac6be8229a | 120 | |
Gary Servin |
0:04ac6be8229a | 121 | // Copy negative sign. |
Gary Servin |
0:04ac6be8229a | 122 | *val |= ((uint32_t)(*(inbuffer++)) & 0x80) << 24; |
Gary Servin |
0:04ac6be8229a | 123 | |
Gary Servin |
0:04ac6be8229a | 124 | return 8; |
Gary Servin |
0:04ac6be8229a | 125 | } |
Gary Servin |
0:04ac6be8229a | 126 | |
Gary Servin |
0:04ac6be8229a | 127 | // Copy data from variable into a byte array |
Gary Servin |
0:04ac6be8229a | 128 | template<typename A, typename V> |
Gary Servin |
0:04ac6be8229a | 129 | static void varToArr(A arr, const V var) |
Gary Servin |
0:04ac6be8229a | 130 | { |
Gary Servin |
0:04ac6be8229a | 131 | for (size_t i = 0; i < sizeof(V); i++) |
Gary Servin |
0:04ac6be8229a | 132 | arr[i] = (var >> (8 * i)); |
Gary Servin |
0:04ac6be8229a | 133 | } |
Gary Servin |
0:04ac6be8229a | 134 | |
Gary Servin |
0:04ac6be8229a | 135 | // Copy data from a byte array into variable |
Gary Servin |
0:04ac6be8229a | 136 | template<typename V, typename A> |
Gary Servin |
0:04ac6be8229a | 137 | static void arrToVar(V& var, const A arr) |
Gary Servin |
0:04ac6be8229a | 138 | { |
Gary Servin |
0:04ac6be8229a | 139 | var = 0; |
Gary Servin |
0:04ac6be8229a | 140 | for (size_t i = 0; i < sizeof(V); i++) |
Gary Servin |
0:04ac6be8229a | 141 | var |= (arr[i] << (8 * i)); |
Gary Servin |
0:04ac6be8229a | 142 | } |
Gary Servin |
0:04ac6be8229a | 143 | |
Gary Servin |
0:04ac6be8229a | 144 | }; |
Gary Servin |
0:04ac6be8229a | 145 | |
Gary Servin |
0:04ac6be8229a | 146 | } // namespace ros |
Gary Servin |
0:04ac6be8229a | 147 | |
Gary Servin |
0:04ac6be8229a | 148 | #endif |