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(); } }
Diff: control_toolbox/SetPidGains.h
- Revision:
- 0:04ac6be8229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/control_toolbox/SetPidGains.h Fri Nov 08 14:38:09 2019 -0300 @@ -0,0 +1,216 @@ +#ifndef _ROS_SERVICE_SetPidGains_h +#define _ROS_SERVICE_SetPidGains_h +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace control_toolbox +{ + +static const char SETPIDGAINS[] = "control_toolbox/SetPidGains"; + + class SetPidGainsRequest : public ros::Msg + { + public: + typedef double _p_type; + _p_type p; + typedef double _i_type; + _i_type i; + typedef double _d_type; + _d_type d; + typedef double _i_clamp_type; + _i_clamp_type i_clamp; + typedef bool _antiwindup_type; + _antiwindup_type antiwindup; + + SetPidGainsRequest(): + p(0), + i(0), + d(0), + i_clamp(0), + antiwindup(0) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + union { + double real; + uint64_t base; + } u_p; + u_p.real = this->p; + *(outbuffer + offset + 0) = (u_p.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_p.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_p.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_p.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_p.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_p.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_p.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_p.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->p); + union { + double real; + uint64_t base; + } u_i; + u_i.real = this->i; + *(outbuffer + offset + 0) = (u_i.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_i.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_i.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_i.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_i.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_i.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_i.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_i.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->i); + union { + double real; + uint64_t base; + } u_d; + u_d.real = this->d; + *(outbuffer + offset + 0) = (u_d.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_d.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_d.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_d.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_d.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_d.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_d.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_d.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->d); + union { + double real; + uint64_t base; + } u_i_clamp; + u_i_clamp.real = this->i_clamp; + *(outbuffer + offset + 0) = (u_i_clamp.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_i_clamp.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_i_clamp.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_i_clamp.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_i_clamp.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_i_clamp.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_i_clamp.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_i_clamp.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->i_clamp); + union { + bool real; + uint8_t base; + } u_antiwindup; + u_antiwindup.real = this->antiwindup; + *(outbuffer + offset + 0) = (u_antiwindup.base >> (8 * 0)) & 0xFF; + offset += sizeof(this->antiwindup); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + union { + double real; + uint64_t base; + } u_p; + u_p.base = 0; + u_p.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_p.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_p.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_p.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_p.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_p.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_p.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_p.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->p = u_p.real; + offset += sizeof(this->p); + union { + double real; + uint64_t base; + } u_i; + u_i.base = 0; + u_i.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_i.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_i.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_i.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_i.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_i.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_i.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_i.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->i = u_i.real; + offset += sizeof(this->i); + union { + double real; + uint64_t base; + } u_d; + u_d.base = 0; + u_d.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_d.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_d.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_d.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_d.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_d.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_d.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_d.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->d = u_d.real; + offset += sizeof(this->d); + union { + double real; + uint64_t base; + } u_i_clamp; + u_i_clamp.base = 0; + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->i_clamp = u_i_clamp.real; + offset += sizeof(this->i_clamp); + union { + bool real; + uint8_t base; + } u_antiwindup; + u_antiwindup.base = 0; + u_antiwindup.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->antiwindup = u_antiwindup.real; + offset += sizeof(this->antiwindup); + return offset; + } + + const char * getType(){ return SETPIDGAINS; }; + const char * getMD5(){ return "4a43159879643e60937bf2893b633607"; }; + + }; + + class SetPidGainsResponse : public ros::Msg + { + public: + + SetPidGainsResponse() + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + return offset; + } + + const char * getType(){ return SETPIDGAINS; }; + const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; + + }; + + class SetPidGains { + public: + typedef SetPidGainsRequest Request; + typedef SetPidGainsResponse Response; + }; + +} +#endif