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/service_server.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 | /* |
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_SERVICE_SERVER_H_ |
Gary Servin |
0:04ac6be8229a | 36 | #define _ROS_SERVICE_SERVER_H_ |
Gary Servin |
0:04ac6be8229a | 37 | |
Gary Servin |
0:04ac6be8229a | 38 | #include "rosserial_msgs/TopicInfo.h" |
Gary Servin |
0:04ac6be8229a | 39 | |
Gary Servin |
0:04ac6be8229a | 40 | #include "ros/publisher.h" |
Gary Servin |
0:04ac6be8229a | 41 | #include "ros/subscriber.h" |
Gary Servin |
0:04ac6be8229a | 42 | |
Gary Servin |
0:04ac6be8229a | 43 | namespace ros |
Gary Servin |
0:04ac6be8229a | 44 | { |
Gary Servin |
0:04ac6be8229a | 45 | |
Gary Servin |
0:04ac6be8229a | 46 | template<typename MReq , typename MRes, typename ObjT = void> |
Gary Servin |
0:04ac6be8229a | 47 | class ServiceServer : public Subscriber_ |
Gary Servin |
0:04ac6be8229a | 48 | { |
Gary Servin |
0:04ac6be8229a | 49 | public: |
Gary Servin |
0:04ac6be8229a | 50 | typedef void(ObjT::*CallbackT)(const MReq&, MRes&); |
Gary Servin |
0:04ac6be8229a | 51 | |
Gary Servin |
0:04ac6be8229a | 52 | ServiceServer(const char* topic_name, CallbackT cb, ObjT* obj) : |
Gary Servin |
0:04ac6be8229a | 53 | pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER), |
Gary Servin |
0:04ac6be8229a | 54 | obj_(obj) |
Gary Servin |
0:04ac6be8229a | 55 | { |
Gary Servin |
0:04ac6be8229a | 56 | this->topic_ = topic_name; |
Gary Servin |
0:04ac6be8229a | 57 | this->cb_ = cb; |
Gary Servin |
0:04ac6be8229a | 58 | } |
Gary Servin |
0:04ac6be8229a | 59 | |
Gary Servin |
0:04ac6be8229a | 60 | // these refer to the subscriber |
Gary Servin |
0:04ac6be8229a | 61 | virtual void callback(unsigned char *data) |
Gary Servin |
0:04ac6be8229a | 62 | { |
Gary Servin |
0:04ac6be8229a | 63 | req.deserialize(data); |
Gary Servin |
0:04ac6be8229a | 64 | (obj_->*cb_)(req, resp); |
Gary Servin |
0:04ac6be8229a | 65 | pub.publish(&resp); |
Gary Servin |
0:04ac6be8229a | 66 | } |
Gary Servin |
0:04ac6be8229a | 67 | virtual const char * getMsgType() |
Gary Servin |
0:04ac6be8229a | 68 | { |
Gary Servin |
0:04ac6be8229a | 69 | return this->req.getType(); |
Gary Servin |
0:04ac6be8229a | 70 | } |
Gary Servin |
0:04ac6be8229a | 71 | virtual const char * getMsgMD5() |
Gary Servin |
0:04ac6be8229a | 72 | { |
Gary Servin |
0:04ac6be8229a | 73 | return this->req.getMD5(); |
Gary Servin |
0:04ac6be8229a | 74 | } |
Gary Servin |
0:04ac6be8229a | 75 | virtual int getEndpointType() |
Gary Servin |
0:04ac6be8229a | 76 | { |
Gary Servin |
0:04ac6be8229a | 77 | return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; |
Gary Servin |
0:04ac6be8229a | 78 | } |
Gary Servin |
0:04ac6be8229a | 79 | |
Gary Servin |
0:04ac6be8229a | 80 | MReq req; |
Gary Servin |
0:04ac6be8229a | 81 | MRes resp; |
Gary Servin |
0:04ac6be8229a | 82 | Publisher pub; |
Gary Servin |
0:04ac6be8229a | 83 | private: |
Gary Servin |
0:04ac6be8229a | 84 | CallbackT cb_; |
Gary Servin |
0:04ac6be8229a | 85 | ObjT* obj_; |
Gary Servin |
0:04ac6be8229a | 86 | }; |
Gary Servin |
0:04ac6be8229a | 87 | |
Gary Servin |
0:04ac6be8229a | 88 | template<typename MReq , typename MRes> |
Gary Servin |
0:04ac6be8229a | 89 | class ServiceServer<MReq, MRes, void> : public Subscriber_ |
Gary Servin |
0:04ac6be8229a | 90 | { |
Gary Servin |
0:04ac6be8229a | 91 | public: |
Gary Servin |
0:04ac6be8229a | 92 | typedef void(*CallbackT)(const MReq&, MRes&); |
Gary Servin |
0:04ac6be8229a | 93 | |
Gary Servin |
0:04ac6be8229a | 94 | ServiceServer(const char* topic_name, CallbackT cb) : |
Gary Servin |
0:04ac6be8229a | 95 | pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER) |
Gary Servin |
0:04ac6be8229a | 96 | { |
Gary Servin |
0:04ac6be8229a | 97 | this->topic_ = topic_name; |
Gary Servin |
0:04ac6be8229a | 98 | this->cb_ = cb; |
Gary Servin |
0:04ac6be8229a | 99 | } |
Gary Servin |
0:04ac6be8229a | 100 | |
Gary Servin |
0:04ac6be8229a | 101 | // these refer to the subscriber |
Gary Servin |
0:04ac6be8229a | 102 | virtual void callback(unsigned char *data) |
Gary Servin |
0:04ac6be8229a | 103 | { |
Gary Servin |
0:04ac6be8229a | 104 | req.deserialize(data); |
Gary Servin |
0:04ac6be8229a | 105 | cb_(req, resp); |
Gary Servin |
0:04ac6be8229a | 106 | pub.publish(&resp); |
Gary Servin |
0:04ac6be8229a | 107 | } |
Gary Servin |
0:04ac6be8229a | 108 | virtual const char * getMsgType() |
Gary Servin |
0:04ac6be8229a | 109 | { |
Gary Servin |
0:04ac6be8229a | 110 | return this->req.getType(); |
Gary Servin |
0:04ac6be8229a | 111 | } |
Gary Servin |
0:04ac6be8229a | 112 | virtual const char * getMsgMD5() |
Gary Servin |
0:04ac6be8229a | 113 | { |
Gary Servin |
0:04ac6be8229a | 114 | return this->req.getMD5(); |
Gary Servin |
0:04ac6be8229a | 115 | } |
Gary Servin |
0:04ac6be8229a | 116 | virtual int getEndpointType() |
Gary Servin |
0:04ac6be8229a | 117 | { |
Gary Servin |
0:04ac6be8229a | 118 | return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; |
Gary Servin |
0:04ac6be8229a | 119 | } |
Gary Servin |
0:04ac6be8229a | 120 | |
Gary Servin |
0:04ac6be8229a | 121 | MReq req; |
Gary Servin |
0:04ac6be8229a | 122 | MRes resp; |
Gary Servin |
0:04ac6be8229a | 123 | Publisher pub; |
Gary Servin |
0:04ac6be8229a | 124 | private: |
Gary Servin |
0:04ac6be8229a | 125 | CallbackT cb_; |
Gary Servin |
0:04ac6be8229a | 126 | }; |
Gary Servin |
0:04ac6be8229a | 127 | |
Gary Servin |
0:04ac6be8229a | 128 | } |
Gary Servin |
0:04ac6be8229a | 129 | |
Gary Servin |
0:04ac6be8229a | 130 | #endif |