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(); } }
geometry_msgs/Vector3.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_geometry_msgs_Vector3_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_geometry_msgs_Vector3_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 geometry_msgs |
Gary Servin |
0:04ac6be8229a | 10 | { |
Gary Servin |
0:04ac6be8229a | 11 | |
Gary Servin |
0:04ac6be8229a | 12 | class Vector3 : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 13 | { |
Gary Servin |
0:04ac6be8229a | 14 | public: |
Gary Servin |
0:04ac6be8229a | 15 | typedef double _x_type; |
Gary Servin |
0:04ac6be8229a | 16 | _x_type x; |
Gary Servin |
0:04ac6be8229a | 17 | typedef double _y_type; |
Gary Servin |
0:04ac6be8229a | 18 | _y_type y; |
Gary Servin |
0:04ac6be8229a | 19 | typedef double _z_type; |
Gary Servin |
0:04ac6be8229a | 20 | _z_type z; |
Gary Servin |
0:04ac6be8229a | 21 | |
Gary Servin |
0:04ac6be8229a | 22 | Vector3(): |
Gary Servin |
0:04ac6be8229a | 23 | x(0), |
Gary Servin |
0:04ac6be8229a | 24 | y(0), |
Gary Servin |
0:04ac6be8229a | 25 | z(0) |
Gary Servin |
0:04ac6be8229a | 26 | { |
Gary Servin |
0:04ac6be8229a | 27 | } |
Gary Servin |
0:04ac6be8229a | 28 | |
Gary Servin |
0:04ac6be8229a | 29 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 30 | { |
Gary Servin |
0:04ac6be8229a | 31 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 32 | union { |
Gary Servin |
0:04ac6be8229a | 33 | double real; |
Gary Servin |
0:04ac6be8229a | 34 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 35 | } u_x; |
Gary Servin |
0:04ac6be8229a | 36 | u_x.real = this->x; |
Gary Servin |
0:04ac6be8229a | 37 | *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 38 | *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 39 | *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 40 | *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 41 | *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 42 | *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 43 | *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 44 | *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 45 | offset += sizeof(this->x); |
Gary Servin |
0:04ac6be8229a | 46 | union { |
Gary Servin |
0:04ac6be8229a | 47 | double real; |
Gary Servin |
0:04ac6be8229a | 48 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 49 | } u_y; |
Gary Servin |
0:04ac6be8229a | 50 | u_y.real = this->y; |
Gary Servin |
0:04ac6be8229a | 51 | *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 52 | *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 53 | *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 54 | *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 55 | *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 56 | *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 57 | *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 58 | *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 59 | offset += sizeof(this->y); |
Gary Servin |
0:04ac6be8229a | 60 | union { |
Gary Servin |
0:04ac6be8229a | 61 | double real; |
Gary Servin |
0:04ac6be8229a | 62 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 63 | } u_z; |
Gary Servin |
0:04ac6be8229a | 64 | u_z.real = this->z; |
Gary Servin |
0:04ac6be8229a | 65 | *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 66 | *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 67 | *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 68 | *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 69 | *(outbuffer + offset + 4) = (u_z.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 70 | *(outbuffer + offset + 5) = (u_z.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 71 | *(outbuffer + offset + 6) = (u_z.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 72 | *(outbuffer + offset + 7) = (u_z.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 73 | offset += sizeof(this->z); |
Gary Servin |
0:04ac6be8229a | 74 | return offset; |
Gary Servin |
0:04ac6be8229a | 75 | } |
Gary Servin |
0:04ac6be8229a | 76 | |
Gary Servin |
0:04ac6be8229a | 77 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 78 | { |
Gary Servin |
0:04ac6be8229a | 79 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 80 | union { |
Gary Servin |
0:04ac6be8229a | 81 | double real; |
Gary Servin |
0:04ac6be8229a | 82 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 83 | } u_x; |
Gary Servin |
0:04ac6be8229a | 84 | u_x.base = 0; |
Gary Servin |
0:04ac6be8229a | 85 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 86 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 87 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 88 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 89 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 90 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 91 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 92 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 93 | this->x = u_x.real; |
Gary Servin |
0:04ac6be8229a | 94 | offset += sizeof(this->x); |
Gary Servin |
0:04ac6be8229a | 95 | union { |
Gary Servin |
0:04ac6be8229a | 96 | double real; |
Gary Servin |
0:04ac6be8229a | 97 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 98 | } u_y; |
Gary Servin |
0:04ac6be8229a | 99 | u_y.base = 0; |
Gary Servin |
0:04ac6be8229a | 100 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 101 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 102 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 103 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 104 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 105 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 106 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 107 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 108 | this->y = u_y.real; |
Gary Servin |
0:04ac6be8229a | 109 | offset += sizeof(this->y); |
Gary Servin |
0:04ac6be8229a | 110 | union { |
Gary Servin |
0:04ac6be8229a | 111 | double real; |
Gary Servin |
0:04ac6be8229a | 112 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 113 | } u_z; |
Gary Servin |
0:04ac6be8229a | 114 | u_z.base = 0; |
Gary Servin |
0:04ac6be8229a | 115 | u_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 116 | u_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 117 | u_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 118 | u_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 119 | u_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 120 | u_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 121 | u_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 122 | u_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 123 | this->z = u_z.real; |
Gary Servin |
0:04ac6be8229a | 124 | offset += sizeof(this->z); |
Gary Servin |
0:04ac6be8229a | 125 | return offset; |
Gary Servin |
0:04ac6be8229a | 126 | } |
Gary Servin |
0:04ac6be8229a | 127 | |
Gary Servin |
0:04ac6be8229a | 128 | const char * getType(){ return "geometry_msgs/Vector3"; }; |
Gary Servin |
0:04ac6be8229a | 129 | const char * getMD5(){ return "4a842b65f413084dc2b10fb484ea7f17"; }; |
Gary Servin |
0:04ac6be8229a | 130 | |
Gary Servin |
0:04ac6be8229a | 131 | }; |
Gary Servin |
0:04ac6be8229a | 132 | |
Gary Servin |
0:04ac6be8229a | 133 | } |
Gary Servin |
0:04ac6be8229a | 134 | #endif |