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(); } }
visualization_msgs/InteractiveMarkerUpdate.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_visualization_msgs_InteractiveMarkerUpdate_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_visualization_msgs_InteractiveMarkerUpdate_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 "visualization_msgs/InteractiveMarker.h" |
Gary Servin |
0:04ac6be8229a | 9 | #include "visualization_msgs/InteractiveMarkerPose.h" |
Gary Servin |
0:04ac6be8229a | 10 | |
Gary Servin |
0:04ac6be8229a | 11 | namespace visualization_msgs |
Gary Servin |
0:04ac6be8229a | 12 | { |
Gary Servin |
0:04ac6be8229a | 13 | |
Gary Servin |
0:04ac6be8229a | 14 | class InteractiveMarkerUpdate : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 15 | { |
Gary Servin |
0:04ac6be8229a | 16 | public: |
Gary Servin |
0:04ac6be8229a | 17 | typedef const char* _server_id_type; |
Gary Servin |
0:04ac6be8229a | 18 | _server_id_type server_id; |
Gary Servin |
0:04ac6be8229a | 19 | typedef uint64_t _seq_num_type; |
Gary Servin |
0:04ac6be8229a | 20 | _seq_num_type seq_num; |
Gary Servin |
0:04ac6be8229a | 21 | typedef uint8_t _type_type; |
Gary Servin |
0:04ac6be8229a | 22 | _type_type type; |
Gary Servin |
0:04ac6be8229a | 23 | uint32_t markers_length; |
Gary Servin |
0:04ac6be8229a | 24 | typedef visualization_msgs::InteractiveMarker _markers_type; |
Gary Servin |
0:04ac6be8229a | 25 | _markers_type st_markers; |
Gary Servin |
0:04ac6be8229a | 26 | _markers_type * markers; |
Gary Servin |
0:04ac6be8229a | 27 | uint32_t poses_length; |
Gary Servin |
0:04ac6be8229a | 28 | typedef visualization_msgs::InteractiveMarkerPose _poses_type; |
Gary Servin |
0:04ac6be8229a | 29 | _poses_type st_poses; |
Gary Servin |
0:04ac6be8229a | 30 | _poses_type * poses; |
Gary Servin |
0:04ac6be8229a | 31 | uint32_t erases_length; |
Gary Servin |
0:04ac6be8229a | 32 | typedef char* _erases_type; |
Gary Servin |
0:04ac6be8229a | 33 | _erases_type st_erases; |
Gary Servin |
0:04ac6be8229a | 34 | _erases_type * erases; |
Gary Servin |
0:04ac6be8229a | 35 | enum { KEEP_ALIVE = 0 }; |
Gary Servin |
0:04ac6be8229a | 36 | enum { UPDATE = 1 }; |
Gary Servin |
0:04ac6be8229a | 37 | |
Gary Servin |
0:04ac6be8229a | 38 | InteractiveMarkerUpdate(): |
Gary Servin |
0:04ac6be8229a | 39 | server_id(""), |
Gary Servin |
0:04ac6be8229a | 40 | seq_num(0), |
Gary Servin |
0:04ac6be8229a | 41 | type(0), |
Gary Servin |
0:04ac6be8229a | 42 | markers_length(0), markers(NULL), |
Gary Servin |
0:04ac6be8229a | 43 | poses_length(0), poses(NULL), |
Gary Servin |
0:04ac6be8229a | 44 | erases_length(0), erases(NULL) |
Gary Servin |
0:04ac6be8229a | 45 | { |
Gary Servin |
0:04ac6be8229a | 46 | } |
Gary Servin |
0:04ac6be8229a | 47 | |
Gary Servin |
0:04ac6be8229a | 48 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 49 | { |
Gary Servin |
0:04ac6be8229a | 50 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 51 | uint32_t length_server_id = strlen(this->server_id); |
Gary Servin |
0:04ac6be8229a | 52 | varToArr(outbuffer + offset, length_server_id); |
Gary Servin |
0:04ac6be8229a | 53 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 54 | memcpy(outbuffer + offset, this->server_id, length_server_id); |
Gary Servin |
0:04ac6be8229a | 55 | offset += length_server_id; |
Gary Servin |
0:04ac6be8229a | 56 | union { |
Gary Servin |
0:04ac6be8229a | 57 | uint64_t real; |
Gary Servin |
0:04ac6be8229a | 58 | uint32_t base; |
Gary Servin |
0:04ac6be8229a | 59 | } u_seq_num; |
Gary Servin |
0:04ac6be8229a | 60 | u_seq_num.real = this->seq_num; |
Gary Servin |
0:04ac6be8229a | 61 | *(outbuffer + offset + 0) = (u_seq_num.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 62 | *(outbuffer + offset + 1) = (u_seq_num.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 63 | *(outbuffer + offset + 2) = (u_seq_num.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 64 | *(outbuffer + offset + 3) = (u_seq_num.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 65 | offset += sizeof(this->seq_num); |
Gary Servin |
0:04ac6be8229a | 66 | *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 67 | offset += sizeof(this->type); |
Gary Servin |
0:04ac6be8229a | 68 | *(outbuffer + offset + 0) = (this->markers_length >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 69 | *(outbuffer + offset + 1) = (this->markers_length >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 70 | *(outbuffer + offset + 2) = (this->markers_length >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 71 | *(outbuffer + offset + 3) = (this->markers_length >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 72 | offset += sizeof(this->markers_length); |
Gary Servin |
0:04ac6be8229a | 73 | for( uint32_t i = 0; i < markers_length; i++){ |
Gary Servin |
0:04ac6be8229a | 74 | offset += this->markers[i].serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 75 | } |
Gary Servin |
0:04ac6be8229a | 76 | *(outbuffer + offset + 0) = (this->poses_length >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 77 | *(outbuffer + offset + 1) = (this->poses_length >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 78 | *(outbuffer + offset + 2) = (this->poses_length >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 79 | *(outbuffer + offset + 3) = (this->poses_length >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 80 | offset += sizeof(this->poses_length); |
Gary Servin |
0:04ac6be8229a | 81 | for( uint32_t i = 0; i < poses_length; i++){ |
Gary Servin |
0:04ac6be8229a | 82 | offset += this->poses[i].serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 83 | } |
Gary Servin |
0:04ac6be8229a | 84 | *(outbuffer + offset + 0) = (this->erases_length >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 85 | *(outbuffer + offset + 1) = (this->erases_length >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 86 | *(outbuffer + offset + 2) = (this->erases_length >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 87 | *(outbuffer + offset + 3) = (this->erases_length >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 88 | offset += sizeof(this->erases_length); |
Gary Servin |
0:04ac6be8229a | 89 | for( uint32_t i = 0; i < erases_length; i++){ |
Gary Servin |
0:04ac6be8229a | 90 | uint32_t length_erasesi = strlen(this->erases[i]); |
Gary Servin |
0:04ac6be8229a | 91 | varToArr(outbuffer + offset, length_erasesi); |
Gary Servin |
0:04ac6be8229a | 92 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 93 | memcpy(outbuffer + offset, this->erases[i], length_erasesi); |
Gary Servin |
0:04ac6be8229a | 94 | offset += length_erasesi; |
Gary Servin |
0:04ac6be8229a | 95 | } |
Gary Servin |
0:04ac6be8229a | 96 | return offset; |
Gary Servin |
0:04ac6be8229a | 97 | } |
Gary Servin |
0:04ac6be8229a | 98 | |
Gary Servin |
0:04ac6be8229a | 99 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 100 | { |
Gary Servin |
0:04ac6be8229a | 101 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 102 | uint32_t length_server_id; |
Gary Servin |
0:04ac6be8229a | 103 | arrToVar(length_server_id, (inbuffer + offset)); |
Gary Servin |
0:04ac6be8229a | 104 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 105 | for(unsigned int k= offset; k< offset+length_server_id; ++k){ |
Gary Servin |
0:04ac6be8229a | 106 | inbuffer[k-1]=inbuffer[k]; |
Gary Servin |
0:04ac6be8229a | 107 | } |
Gary Servin |
0:04ac6be8229a | 108 | inbuffer[offset+length_server_id-1]=0; |
Gary Servin |
0:04ac6be8229a | 109 | this->server_id = (char *)(inbuffer + offset-1); |
Gary Servin |
0:04ac6be8229a | 110 | offset += length_server_id; |
Gary Servin |
0:04ac6be8229a | 111 | union { |
Gary Servin |
0:04ac6be8229a | 112 | uint64_t real; |
Gary Servin |
0:04ac6be8229a | 113 | uint32_t base; |
Gary Servin |
0:04ac6be8229a | 114 | } u_seq_num; |
Gary Servin |
0:04ac6be8229a | 115 | u_seq_num.base = 0; |
Gary Servin |
0:04ac6be8229a | 116 | u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 117 | u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 118 | u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 119 | u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 120 | this->seq_num = u_seq_num.real; |
Gary Servin |
0:04ac6be8229a | 121 | offset += sizeof(this->seq_num); |
Gary Servin |
0:04ac6be8229a | 122 | this->type = ((uint8_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 123 | offset += sizeof(this->type); |
Gary Servin |
0:04ac6be8229a | 124 | uint32_t markers_lengthT = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 125 | markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 126 | markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 127 | markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 128 | offset += sizeof(this->markers_length); |
Gary Servin |
0:04ac6be8229a | 129 | if(markers_lengthT > markers_length) |
Gary Servin |
0:04ac6be8229a | 130 | this->markers = (visualization_msgs::InteractiveMarker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::InteractiveMarker)); |
Gary Servin |
0:04ac6be8229a | 131 | markers_length = markers_lengthT; |
Gary Servin |
0:04ac6be8229a | 132 | for( uint32_t i = 0; i < markers_length; i++){ |
Gary Servin |
0:04ac6be8229a | 133 | offset += this->st_markers.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 134 | memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::InteractiveMarker)); |
Gary Servin |
0:04ac6be8229a | 135 | } |
Gary Servin |
0:04ac6be8229a | 136 | uint32_t poses_lengthT = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 137 | poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 138 | poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 139 | poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 140 | offset += sizeof(this->poses_length); |
Gary Servin |
0:04ac6be8229a | 141 | if(poses_lengthT > poses_length) |
Gary Servin |
0:04ac6be8229a | 142 | this->poses = (visualization_msgs::InteractiveMarkerPose*)realloc(this->poses, poses_lengthT * sizeof(visualization_msgs::InteractiveMarkerPose)); |
Gary Servin |
0:04ac6be8229a | 143 | poses_length = poses_lengthT; |
Gary Servin |
0:04ac6be8229a | 144 | for( uint32_t i = 0; i < poses_length; i++){ |
Gary Servin |
0:04ac6be8229a | 145 | offset += this->st_poses.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 146 | memcpy( &(this->poses[i]), &(this->st_poses), sizeof(visualization_msgs::InteractiveMarkerPose)); |
Gary Servin |
0:04ac6be8229a | 147 | } |
Gary Servin |
0:04ac6be8229a | 148 | uint32_t erases_lengthT = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 149 | erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 150 | erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 151 | erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 152 | offset += sizeof(this->erases_length); |
Gary Servin |
0:04ac6be8229a | 153 | if(erases_lengthT > erases_length) |
Gary Servin |
0:04ac6be8229a | 154 | this->erases = (char**)realloc(this->erases, erases_lengthT * sizeof(char*)); |
Gary Servin |
0:04ac6be8229a | 155 | erases_length = erases_lengthT; |
Gary Servin |
0:04ac6be8229a | 156 | for( uint32_t i = 0; i < erases_length; i++){ |
Gary Servin |
0:04ac6be8229a | 157 | uint32_t length_st_erases; |
Gary Servin |
0:04ac6be8229a | 158 | arrToVar(length_st_erases, (inbuffer + offset)); |
Gary Servin |
0:04ac6be8229a | 159 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 160 | for(unsigned int k= offset; k< offset+length_st_erases; ++k){ |
Gary Servin |
0:04ac6be8229a | 161 | inbuffer[k-1]=inbuffer[k]; |
Gary Servin |
0:04ac6be8229a | 162 | } |
Gary Servin |
0:04ac6be8229a | 163 | inbuffer[offset+length_st_erases-1]=0; |
Gary Servin |
0:04ac6be8229a | 164 | this->st_erases = (char *)(inbuffer + offset-1); |
Gary Servin |
0:04ac6be8229a | 165 | offset += length_st_erases; |
Gary Servin |
0:04ac6be8229a | 166 | memcpy( &(this->erases[i]), &(this->st_erases), sizeof(char*)); |
Gary Servin |
0:04ac6be8229a | 167 | } |
Gary Servin |
0:04ac6be8229a | 168 | return offset; |
Gary Servin |
0:04ac6be8229a | 169 | } |
Gary Servin |
0:04ac6be8229a | 170 | |
Gary Servin |
0:04ac6be8229a | 171 | const char * getType(){ return "visualization_msgs/InteractiveMarkerUpdate"; }; |
Gary Servin |
0:04ac6be8229a | 172 | const char * getMD5(){ return "710d308d0a9276d65945e92dd30b3946"; }; |
Gary Servin |
0:04ac6be8229a | 173 | |
Gary Servin |
0:04ac6be8229a | 174 | }; |
Gary Servin |
0:04ac6be8229a | 175 | |
Gary Servin |
0:04ac6be8229a | 176 | } |
Gary Servin |
0:04ac6be8229a | 177 | #endif |