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: controller_manager_msgs/ControllerStatistics.h
- Revision:
- 0:04ac6be8229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/controller_manager_msgs/ControllerStatistics.h Fri Nov 08 14:38:09 2019 -0300 @@ -0,0 +1,231 @@ +#ifndef _ROS_controller_manager_msgs_ControllerStatistics_h +#define _ROS_controller_manager_msgs_ControllerStatistics_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "ros/time.h" +#include "ros/duration.h" + +namespace controller_manager_msgs +{ + + class ControllerStatistics : public ros::Msg + { + public: + typedef const char* _name_type; + _name_type name; + typedef const char* _type_type; + _type_type type; + typedef ros::Time _timestamp_type; + _timestamp_type timestamp; + typedef bool _running_type; + _running_type running; + typedef ros::Duration _max_time_type; + _max_time_type max_time; + typedef ros::Duration _mean_time_type; + _mean_time_type mean_time; + typedef ros::Duration _variance_time_type; + _variance_time_type variance_time; + typedef int32_t _num_control_loop_overruns_type; + _num_control_loop_overruns_type num_control_loop_overruns; + typedef ros::Time _time_last_control_loop_overrun_type; + _time_last_control_loop_overrun_type time_last_control_loop_overrun; + + ControllerStatistics(): + name(""), + type(""), + timestamp(), + running(0), + max_time(), + mean_time(), + variance_time(), + num_control_loop_overruns(0), + time_last_control_loop_overrun() + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + uint32_t length_name = strlen(this->name); + varToArr(outbuffer + offset, length_name); + offset += 4; + memcpy(outbuffer + offset, this->name, length_name); + offset += length_name; + uint32_t length_type = strlen(this->type); + varToArr(outbuffer + offset, length_type); + offset += 4; + memcpy(outbuffer + offset, this->type, length_type); + offset += length_type; + *(outbuffer + offset + 0) = (this->timestamp.sec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->timestamp.sec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->timestamp.sec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->timestamp.sec >> (8 * 3)) & 0xFF; + offset += sizeof(this->timestamp.sec); + *(outbuffer + offset + 0) = (this->timestamp.nsec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->timestamp.nsec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->timestamp.nsec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->timestamp.nsec >> (8 * 3)) & 0xFF; + offset += sizeof(this->timestamp.nsec); + union { + bool real; + uint8_t base; + } u_running; + u_running.real = this->running; + *(outbuffer + offset + 0) = (u_running.base >> (8 * 0)) & 0xFF; + offset += sizeof(this->running); + *(outbuffer + offset + 0) = (this->max_time.sec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->max_time.sec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->max_time.sec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->max_time.sec >> (8 * 3)) & 0xFF; + offset += sizeof(this->max_time.sec); + *(outbuffer + offset + 0) = (this->max_time.nsec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->max_time.nsec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->max_time.nsec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->max_time.nsec >> (8 * 3)) & 0xFF; + offset += sizeof(this->max_time.nsec); + *(outbuffer + offset + 0) = (this->mean_time.sec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->mean_time.sec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->mean_time.sec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->mean_time.sec >> (8 * 3)) & 0xFF; + offset += sizeof(this->mean_time.sec); + *(outbuffer + offset + 0) = (this->mean_time.nsec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->mean_time.nsec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->mean_time.nsec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->mean_time.nsec >> (8 * 3)) & 0xFF; + offset += sizeof(this->mean_time.nsec); + *(outbuffer + offset + 0) = (this->variance_time.sec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->variance_time.sec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->variance_time.sec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->variance_time.sec >> (8 * 3)) & 0xFF; + offset += sizeof(this->variance_time.sec); + *(outbuffer + offset + 0) = (this->variance_time.nsec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->variance_time.nsec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->variance_time.nsec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->variance_time.nsec >> (8 * 3)) & 0xFF; + offset += sizeof(this->variance_time.nsec); + union { + int32_t real; + uint32_t base; + } u_num_control_loop_overruns; + u_num_control_loop_overruns.real = this->num_control_loop_overruns; + *(outbuffer + offset + 0) = (u_num_control_loop_overruns.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_num_control_loop_overruns.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_num_control_loop_overruns.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_num_control_loop_overruns.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->num_control_loop_overruns); + *(outbuffer + offset + 0) = (this->time_last_control_loop_overrun.sec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->time_last_control_loop_overrun.sec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->time_last_control_loop_overrun.sec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->time_last_control_loop_overrun.sec >> (8 * 3)) & 0xFF; + offset += sizeof(this->time_last_control_loop_overrun.sec); + *(outbuffer + offset + 0) = (this->time_last_control_loop_overrun.nsec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->time_last_control_loop_overrun.nsec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->time_last_control_loop_overrun.nsec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->time_last_control_loop_overrun.nsec >> (8 * 3)) & 0xFF; + offset += sizeof(this->time_last_control_loop_overrun.nsec); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_name; + arrToVar(length_name, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_name; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_name-1]=0; + this->name = (char *)(inbuffer + offset-1); + offset += length_name; + uint32_t length_type; + arrToVar(length_type, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_type; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_type-1]=0; + this->type = (char *)(inbuffer + offset-1); + offset += length_type; + this->timestamp.sec = ((uint32_t) (*(inbuffer + offset))); + this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->timestamp.sec); + this->timestamp.nsec = ((uint32_t) (*(inbuffer + offset))); + this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->timestamp.nsec); + union { + bool real; + uint8_t base; + } u_running; + u_running.base = 0; + u_running.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->running = u_running.real; + offset += sizeof(this->running); + this->max_time.sec = ((uint32_t) (*(inbuffer + offset))); + this->max_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->max_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->max_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->max_time.sec); + this->max_time.nsec = ((uint32_t) (*(inbuffer + offset))); + this->max_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->max_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->max_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->max_time.nsec); + this->mean_time.sec = ((uint32_t) (*(inbuffer + offset))); + this->mean_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->mean_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->mean_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->mean_time.sec); + this->mean_time.nsec = ((uint32_t) (*(inbuffer + offset))); + this->mean_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->mean_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->mean_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->mean_time.nsec); + this->variance_time.sec = ((uint32_t) (*(inbuffer + offset))); + this->variance_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->variance_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->variance_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->variance_time.sec); + this->variance_time.nsec = ((uint32_t) (*(inbuffer + offset))); + this->variance_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->variance_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->variance_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->variance_time.nsec); + union { + int32_t real; + uint32_t base; + } u_num_control_loop_overruns; + u_num_control_loop_overruns.base = 0; + u_num_control_loop_overruns.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_num_control_loop_overruns.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_num_control_loop_overruns.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_num_control_loop_overruns.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->num_control_loop_overruns = u_num_control_loop_overruns.real; + offset += sizeof(this->num_control_loop_overruns); + this->time_last_control_loop_overrun.sec = ((uint32_t) (*(inbuffer + offset))); + this->time_last_control_loop_overrun.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->time_last_control_loop_overrun.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->time_last_control_loop_overrun.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->time_last_control_loop_overrun.sec); + this->time_last_control_loop_overrun.nsec = ((uint32_t) (*(inbuffer + offset))); + this->time_last_control_loop_overrun.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->time_last_control_loop_overrun.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->time_last_control_loop_overrun.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->time_last_control_loop_overrun.nsec); + return offset; + } + + const char * getType(){ return "controller_manager_msgs/ControllerStatistics"; }; + const char * getMD5(){ return "697780c372c8d8597a1436d0e2ad3ba8"; }; + + }; + +} +#endif