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: nodelet/NodeletLoad.h
- Revision:
- 0:04ac6be8229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/nodelet/NodeletLoad.h Fri Nov 08 14:38:09 2019 -0300 @@ -0,0 +1,250 @@ +#ifndef _ROS_SERVICE_NodeletLoad_h +#define _ROS_SERVICE_NodeletLoad_h +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace nodelet +{ + +static const char NODELETLOAD[] = "nodelet/NodeletLoad"; + + class NodeletLoadRequest : public ros::Msg + { + public: + typedef const char* _name_type; + _name_type name; + typedef const char* _type_type; + _type_type type; + uint32_t remap_source_args_length; + typedef char* _remap_source_args_type; + _remap_source_args_type st_remap_source_args; + _remap_source_args_type * remap_source_args; + uint32_t remap_target_args_length; + typedef char* _remap_target_args_type; + _remap_target_args_type st_remap_target_args; + _remap_target_args_type * remap_target_args; + uint32_t my_argv_length; + typedef char* _my_argv_type; + _my_argv_type st_my_argv; + _my_argv_type * my_argv; + typedef const char* _bond_id_type; + _bond_id_type bond_id; + + NodeletLoadRequest(): + name(""), + type(""), + remap_source_args_length(0), remap_source_args(NULL), + remap_target_args_length(0), remap_target_args(NULL), + my_argv_length(0), my_argv(NULL), + bond_id("") + { + } + + 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->remap_source_args_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->remap_source_args_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->remap_source_args_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->remap_source_args_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->remap_source_args_length); + for( uint32_t i = 0; i < remap_source_args_length; i++){ + uint32_t length_remap_source_argsi = strlen(this->remap_source_args[i]); + varToArr(outbuffer + offset, length_remap_source_argsi); + offset += 4; + memcpy(outbuffer + offset, this->remap_source_args[i], length_remap_source_argsi); + offset += length_remap_source_argsi; + } + *(outbuffer + offset + 0) = (this->remap_target_args_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->remap_target_args_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->remap_target_args_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->remap_target_args_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->remap_target_args_length); + for( uint32_t i = 0; i < remap_target_args_length; i++){ + uint32_t length_remap_target_argsi = strlen(this->remap_target_args[i]); + varToArr(outbuffer + offset, length_remap_target_argsi); + offset += 4; + memcpy(outbuffer + offset, this->remap_target_args[i], length_remap_target_argsi); + offset += length_remap_target_argsi; + } + *(outbuffer + offset + 0) = (this->my_argv_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->my_argv_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->my_argv_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->my_argv_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->my_argv_length); + for( uint32_t i = 0; i < my_argv_length; i++){ + uint32_t length_my_argvi = strlen(this->my_argv[i]); + varToArr(outbuffer + offset, length_my_argvi); + offset += 4; + memcpy(outbuffer + offset, this->my_argv[i], length_my_argvi); + offset += length_my_argvi; + } + uint32_t length_bond_id = strlen(this->bond_id); + varToArr(outbuffer + offset, length_bond_id); + offset += 4; + memcpy(outbuffer + offset, this->bond_id, length_bond_id); + offset += length_bond_id; + 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; + uint32_t remap_source_args_lengthT = ((uint32_t) (*(inbuffer + offset))); + remap_source_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + remap_source_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + remap_source_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->remap_source_args_length); + if(remap_source_args_lengthT > remap_source_args_length) + this->remap_source_args = (char**)realloc(this->remap_source_args, remap_source_args_lengthT * sizeof(char*)); + remap_source_args_length = remap_source_args_lengthT; + for( uint32_t i = 0; i < remap_source_args_length; i++){ + uint32_t length_st_remap_source_args; + arrToVar(length_st_remap_source_args, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_remap_source_args; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_remap_source_args-1]=0; + this->st_remap_source_args = (char *)(inbuffer + offset-1); + offset += length_st_remap_source_args; + memcpy( &(this->remap_source_args[i]), &(this->st_remap_source_args), sizeof(char*)); + } + uint32_t remap_target_args_lengthT = ((uint32_t) (*(inbuffer + offset))); + remap_target_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + remap_target_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + remap_target_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->remap_target_args_length); + if(remap_target_args_lengthT > remap_target_args_length) + this->remap_target_args = (char**)realloc(this->remap_target_args, remap_target_args_lengthT * sizeof(char*)); + remap_target_args_length = remap_target_args_lengthT; + for( uint32_t i = 0; i < remap_target_args_length; i++){ + uint32_t length_st_remap_target_args; + arrToVar(length_st_remap_target_args, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_remap_target_args; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_remap_target_args-1]=0; + this->st_remap_target_args = (char *)(inbuffer + offset-1); + offset += length_st_remap_target_args; + memcpy( &(this->remap_target_args[i]), &(this->st_remap_target_args), sizeof(char*)); + } + uint32_t my_argv_lengthT = ((uint32_t) (*(inbuffer + offset))); + my_argv_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + my_argv_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + my_argv_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->my_argv_length); + if(my_argv_lengthT > my_argv_length) + this->my_argv = (char**)realloc(this->my_argv, my_argv_lengthT * sizeof(char*)); + my_argv_length = my_argv_lengthT; + for( uint32_t i = 0; i < my_argv_length; i++){ + uint32_t length_st_my_argv; + arrToVar(length_st_my_argv, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_my_argv; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_my_argv-1]=0; + this->st_my_argv = (char *)(inbuffer + offset-1); + offset += length_st_my_argv; + memcpy( &(this->my_argv[i]), &(this->st_my_argv), sizeof(char*)); + } + uint32_t length_bond_id; + arrToVar(length_bond_id, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_bond_id; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_bond_id-1]=0; + this->bond_id = (char *)(inbuffer + offset-1); + offset += length_bond_id; + return offset; + } + + const char * getType(){ return NODELETLOAD; }; + const char * getMD5(){ return "c6e28cc4d2e259249d96cfb50658fbec"; }; + + }; + + class NodeletLoadResponse : public ros::Msg + { + public: + typedef bool _success_type; + _success_type success; + + NodeletLoadResponse(): + success(0) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + union { + bool real; + uint8_t base; + } u_success; + u_success.real = this->success; + *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; + offset += sizeof(this->success); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + union { + bool real; + uint8_t base; + } u_success; + u_success.base = 0; + u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->success = u_success.real; + offset += sizeof(this->success); + return offset; + } + + const char * getType(){ return NODELETLOAD; }; + const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; }; + + }; + + class NodeletLoad { + public: + typedef NodeletLoadRequest Request; + typedef NodeletLoadResponse Response; + }; + +} +#endif