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(); } }
shape_msgs/Mesh.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_shape_msgs_Mesh_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_shape_msgs_Mesh_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 "shape_msgs/MeshTriangle.h" |
Gary Servin |
0:04ac6be8229a | 9 | #include "geometry_msgs/Point.h" |
Gary Servin |
0:04ac6be8229a | 10 | |
Gary Servin |
0:04ac6be8229a | 11 | namespace shape_msgs |
Gary Servin |
0:04ac6be8229a | 12 | { |
Gary Servin |
0:04ac6be8229a | 13 | |
Gary Servin |
0:04ac6be8229a | 14 | class Mesh : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 15 | { |
Gary Servin |
0:04ac6be8229a | 16 | public: |
Gary Servin |
0:04ac6be8229a | 17 | uint32_t triangles_length; |
Gary Servin |
0:04ac6be8229a | 18 | typedef shape_msgs::MeshTriangle _triangles_type; |
Gary Servin |
0:04ac6be8229a | 19 | _triangles_type st_triangles; |
Gary Servin |
0:04ac6be8229a | 20 | _triangles_type * triangles; |
Gary Servin |
0:04ac6be8229a | 21 | uint32_t vertices_length; |
Gary Servin |
0:04ac6be8229a | 22 | typedef geometry_msgs::Point _vertices_type; |
Gary Servin |
0:04ac6be8229a | 23 | _vertices_type st_vertices; |
Gary Servin |
0:04ac6be8229a | 24 | _vertices_type * vertices; |
Gary Servin |
0:04ac6be8229a | 25 | |
Gary Servin |
0:04ac6be8229a | 26 | Mesh(): |
Gary Servin |
0:04ac6be8229a | 27 | triangles_length(0), triangles(NULL), |
Gary Servin |
0:04ac6be8229a | 28 | vertices_length(0), vertices(NULL) |
Gary Servin |
0:04ac6be8229a | 29 | { |
Gary Servin |
0:04ac6be8229a | 30 | } |
Gary Servin |
0:04ac6be8229a | 31 | |
Gary Servin |
0:04ac6be8229a | 32 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 33 | { |
Gary Servin |
0:04ac6be8229a | 34 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 35 | *(outbuffer + offset + 0) = (this->triangles_length >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 36 | *(outbuffer + offset + 1) = (this->triangles_length >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 37 | *(outbuffer + offset + 2) = (this->triangles_length >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 38 | *(outbuffer + offset + 3) = (this->triangles_length >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 39 | offset += sizeof(this->triangles_length); |
Gary Servin |
0:04ac6be8229a | 40 | for( uint32_t i = 0; i < triangles_length; i++){ |
Gary Servin |
0:04ac6be8229a | 41 | offset += this->triangles[i].serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 42 | } |
Gary Servin |
0:04ac6be8229a | 43 | *(outbuffer + offset + 0) = (this->vertices_length >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 44 | *(outbuffer + offset + 1) = (this->vertices_length >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 45 | *(outbuffer + offset + 2) = (this->vertices_length >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 46 | *(outbuffer + offset + 3) = (this->vertices_length >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 47 | offset += sizeof(this->vertices_length); |
Gary Servin |
0:04ac6be8229a | 48 | for( uint32_t i = 0; i < vertices_length; i++){ |
Gary Servin |
0:04ac6be8229a | 49 | offset += this->vertices[i].serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 50 | } |
Gary Servin |
0:04ac6be8229a | 51 | return offset; |
Gary Servin |
0:04ac6be8229a | 52 | } |
Gary Servin |
0:04ac6be8229a | 53 | |
Gary Servin |
0:04ac6be8229a | 54 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 55 | { |
Gary Servin |
0:04ac6be8229a | 56 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 57 | uint32_t triangles_lengthT = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 58 | triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 59 | triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 60 | triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 61 | offset += sizeof(this->triangles_length); |
Gary Servin |
0:04ac6be8229a | 62 | if(triangles_lengthT > triangles_length) |
Gary Servin |
0:04ac6be8229a | 63 | this->triangles = (shape_msgs::MeshTriangle*)realloc(this->triangles, triangles_lengthT * sizeof(shape_msgs::MeshTriangle)); |
Gary Servin |
0:04ac6be8229a | 64 | triangles_length = triangles_lengthT; |
Gary Servin |
0:04ac6be8229a | 65 | for( uint32_t i = 0; i < triangles_length; i++){ |
Gary Servin |
0:04ac6be8229a | 66 | offset += this->st_triangles.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 67 | memcpy( &(this->triangles[i]), &(this->st_triangles), sizeof(shape_msgs::MeshTriangle)); |
Gary Servin |
0:04ac6be8229a | 68 | } |
Gary Servin |
0:04ac6be8229a | 69 | uint32_t vertices_lengthT = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 70 | vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 71 | vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 72 | vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 73 | offset += sizeof(this->vertices_length); |
Gary Servin |
0:04ac6be8229a | 74 | if(vertices_lengthT > vertices_length) |
Gary Servin |
0:04ac6be8229a | 75 | this->vertices = (geometry_msgs::Point*)realloc(this->vertices, vertices_lengthT * sizeof(geometry_msgs::Point)); |
Gary Servin |
0:04ac6be8229a | 76 | vertices_length = vertices_lengthT; |
Gary Servin |
0:04ac6be8229a | 77 | for( uint32_t i = 0; i < vertices_length; i++){ |
Gary Servin |
0:04ac6be8229a | 78 | offset += this->st_vertices.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 79 | memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(geometry_msgs::Point)); |
Gary Servin |
0:04ac6be8229a | 80 | } |
Gary Servin |
0:04ac6be8229a | 81 | return offset; |
Gary Servin |
0:04ac6be8229a | 82 | } |
Gary Servin |
0:04ac6be8229a | 83 | |
Gary Servin |
0:04ac6be8229a | 84 | const char * getType(){ return "shape_msgs/Mesh"; }; |
Gary Servin |
0:04ac6be8229a | 85 | const char * getMD5(){ return "1ffdae9486cd3316a121c578b47a85cc"; }; |
Gary Servin |
0:04ac6be8229a | 86 | |
Gary Servin |
0:04ac6be8229a | 87 | }; |
Gary Servin |
0:04ac6be8229a | 88 | |
Gary Servin |
0:04ac6be8229a | 89 | } |
Gary Servin |
0:04ac6be8229a | 90 | #endif |