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(); } }
control_msgs/FollowJointTrajectoryGoal.h@1:da82487f547e, 2019-11-08 (annotated)
- Committer:
- Gary Servin
- Date:
- Fri Nov 08 14:55:04 2019 -0300
- Revision:
- 1:da82487f547e
- Parent:
- 0:04ac6be8229a
Add missing round() method
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gary Servin |
0:04ac6be8229a | 1 | #ifndef _ROS_control_msgs_FollowJointTrajectoryGoal_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_control_msgs_FollowJointTrajectoryGoal_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 | #include "trajectory_msgs/JointTrajectory.h" |
Gary Servin |
0:04ac6be8229a | 9 | #include "control_msgs/JointTolerance.h" |
Gary Servin |
0:04ac6be8229a | 10 | #include "ros/duration.h" |
Gary Servin |
0:04ac6be8229a | 11 | |
Gary Servin |
0:04ac6be8229a | 12 | namespace control_msgs |
Gary Servin |
0:04ac6be8229a | 13 | { |
Gary Servin |
0:04ac6be8229a | 14 | |
Gary Servin |
0:04ac6be8229a | 15 | class FollowJointTrajectoryGoal : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 16 | { |
Gary Servin |
0:04ac6be8229a | 17 | public: |
Gary Servin |
0:04ac6be8229a | 18 | typedef trajectory_msgs::JointTrajectory _trajectory_type; |
Gary Servin |
0:04ac6be8229a | 19 | _trajectory_type trajectory; |
Gary Servin |
0:04ac6be8229a | 20 | uint32_t path_tolerance_length; |
Gary Servin |
0:04ac6be8229a | 21 | typedef control_msgs::JointTolerance _path_tolerance_type; |
Gary Servin |
0:04ac6be8229a | 22 | _path_tolerance_type st_path_tolerance; |
Gary Servin |
0:04ac6be8229a | 23 | _path_tolerance_type * path_tolerance; |
Gary Servin |
0:04ac6be8229a | 24 | uint32_t goal_tolerance_length; |
Gary Servin |
0:04ac6be8229a | 25 | typedef control_msgs::JointTolerance _goal_tolerance_type; |
Gary Servin |
0:04ac6be8229a | 26 | _goal_tolerance_type st_goal_tolerance; |
Gary Servin |
0:04ac6be8229a | 27 | _goal_tolerance_type * goal_tolerance; |
Gary Servin |
0:04ac6be8229a | 28 | typedef ros::Duration _goal_time_tolerance_type; |
Gary Servin |
0:04ac6be8229a | 29 | _goal_time_tolerance_type goal_time_tolerance; |
Gary Servin |
0:04ac6be8229a | 30 | |
Gary Servin |
0:04ac6be8229a | 31 | FollowJointTrajectoryGoal(): |
Gary Servin |
0:04ac6be8229a | 32 | trajectory(), |
Gary Servin |
0:04ac6be8229a | 33 | path_tolerance_length(0), path_tolerance(NULL), |
Gary Servin |
0:04ac6be8229a | 34 | goal_tolerance_length(0), goal_tolerance(NULL), |
Gary Servin |
0:04ac6be8229a | 35 | goal_time_tolerance() |
Gary Servin |
0:04ac6be8229a | 36 | { |
Gary Servin |
0:04ac6be8229a | 37 | } |
Gary Servin |
0:04ac6be8229a | 38 | |
Gary Servin |
0:04ac6be8229a | 39 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 40 | { |
Gary Servin |
0:04ac6be8229a | 41 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 42 | offset += this->trajectory.serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 43 | *(outbuffer + offset + 0) = (this->path_tolerance_length >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 44 | *(outbuffer + offset + 1) = (this->path_tolerance_length >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 45 | *(outbuffer + offset + 2) = (this->path_tolerance_length >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 46 | *(outbuffer + offset + 3) = (this->path_tolerance_length >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 47 | offset += sizeof(this->path_tolerance_length); |
Gary Servin |
0:04ac6be8229a | 48 | for( uint32_t i = 0; i < path_tolerance_length; i++){ |
Gary Servin |
0:04ac6be8229a | 49 | offset += this->path_tolerance[i].serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 50 | } |
Gary Servin |
0:04ac6be8229a | 51 | *(outbuffer + offset + 0) = (this->goal_tolerance_length >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 52 | *(outbuffer + offset + 1) = (this->goal_tolerance_length >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 53 | *(outbuffer + offset + 2) = (this->goal_tolerance_length >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 54 | *(outbuffer + offset + 3) = (this->goal_tolerance_length >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 55 | offset += sizeof(this->goal_tolerance_length); |
Gary Servin |
0:04ac6be8229a | 56 | for( uint32_t i = 0; i < goal_tolerance_length; i++){ |
Gary Servin |
0:04ac6be8229a | 57 | offset += this->goal_tolerance[i].serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 58 | } |
Gary Servin |
0:04ac6be8229a | 59 | *(outbuffer + offset + 0) = (this->goal_time_tolerance.sec >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 60 | *(outbuffer + offset + 1) = (this->goal_time_tolerance.sec >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 61 | *(outbuffer + offset + 2) = (this->goal_time_tolerance.sec >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 62 | *(outbuffer + offset + 3) = (this->goal_time_tolerance.sec >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 63 | offset += sizeof(this->goal_time_tolerance.sec); |
Gary Servin |
0:04ac6be8229a | 64 | *(outbuffer + offset + 0) = (this->goal_time_tolerance.nsec >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 65 | *(outbuffer + offset + 1) = (this->goal_time_tolerance.nsec >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 66 | *(outbuffer + offset + 2) = (this->goal_time_tolerance.nsec >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 67 | *(outbuffer + offset + 3) = (this->goal_time_tolerance.nsec >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 68 | offset += sizeof(this->goal_time_tolerance.nsec); |
Gary Servin |
0:04ac6be8229a | 69 | return offset; |
Gary Servin |
0:04ac6be8229a | 70 | } |
Gary Servin |
0:04ac6be8229a | 71 | |
Gary Servin |
0:04ac6be8229a | 72 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 73 | { |
Gary Servin |
0:04ac6be8229a | 74 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 75 | offset += this->trajectory.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 76 | uint32_t path_tolerance_lengthT = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 77 | path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 78 | path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 79 | path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 80 | offset += sizeof(this->path_tolerance_length); |
Gary Servin |
0:04ac6be8229a | 81 | if(path_tolerance_lengthT > path_tolerance_length) |
Gary Servin |
0:04ac6be8229a | 82 | this->path_tolerance = (control_msgs::JointTolerance*)realloc(this->path_tolerance, path_tolerance_lengthT * sizeof(control_msgs::JointTolerance)); |
Gary Servin |
0:04ac6be8229a | 83 | path_tolerance_length = path_tolerance_lengthT; |
Gary Servin |
0:04ac6be8229a | 84 | for( uint32_t i = 0; i < path_tolerance_length; i++){ |
Gary Servin |
0:04ac6be8229a | 85 | offset += this->st_path_tolerance.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 86 | memcpy( &(this->path_tolerance[i]), &(this->st_path_tolerance), sizeof(control_msgs::JointTolerance)); |
Gary Servin |
0:04ac6be8229a | 87 | } |
Gary Servin |
0:04ac6be8229a | 88 | uint32_t goal_tolerance_lengthT = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 89 | goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 90 | goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 91 | goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 92 | offset += sizeof(this->goal_tolerance_length); |
Gary Servin |
0:04ac6be8229a | 93 | if(goal_tolerance_lengthT > goal_tolerance_length) |
Gary Servin |
0:04ac6be8229a | 94 | this->goal_tolerance = (control_msgs::JointTolerance*)realloc(this->goal_tolerance, goal_tolerance_lengthT * sizeof(control_msgs::JointTolerance)); |
Gary Servin |
0:04ac6be8229a | 95 | goal_tolerance_length = goal_tolerance_lengthT; |
Gary Servin |
0:04ac6be8229a | 96 | for( uint32_t i = 0; i < goal_tolerance_length; i++){ |
Gary Servin |
0:04ac6be8229a | 97 | offset += this->st_goal_tolerance.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 98 | memcpy( &(this->goal_tolerance[i]), &(this->st_goal_tolerance), sizeof(control_msgs::JointTolerance)); |
Gary Servin |
0:04ac6be8229a | 99 | } |
Gary Servin |
0:04ac6be8229a | 100 | this->goal_time_tolerance.sec = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 101 | this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 102 | this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 103 | this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 104 | offset += sizeof(this->goal_time_tolerance.sec); |
Gary Servin |
0:04ac6be8229a | 105 | this->goal_time_tolerance.nsec = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 106 | this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 107 | this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 108 | this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 109 | offset += sizeof(this->goal_time_tolerance.nsec); |
Gary Servin |
0:04ac6be8229a | 110 | return offset; |
Gary Servin |
0:04ac6be8229a | 111 | } |
Gary Servin |
0:04ac6be8229a | 112 | |
Gary Servin |
0:04ac6be8229a | 113 | const char * getType(){ return "control_msgs/FollowJointTrajectoryGoal"; }; |
Gary Servin |
0:04ac6be8229a | 114 | const char * getMD5(){ return "69636787b6ecbde4d61d711979bc7ecb"; }; |
Gary Servin |
0:04ac6be8229a | 115 | |
Gary Servin |
0:04ac6be8229a | 116 | }; |
Gary Servin |
0:04ac6be8229a | 117 | |
Gary Servin |
0:04ac6be8229a | 118 | } |
Gary Servin |
0:04ac6be8229a | 119 | #endif |