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: pcl_msgs/Vertices.h
- Revision:
- 0:04ac6be8229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pcl_msgs/Vertices.h Fri Nov 08 14:38:09 2019 -0300 @@ -0,0 +1,71 @@ +#ifndef _ROS_pcl_msgs_Vertices_h +#define _ROS_pcl_msgs_Vertices_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace pcl_msgs +{ + + class Vertices : public ros::Msg + { + public: + uint32_t vertices_length; + typedef uint32_t _vertices_type; + _vertices_type st_vertices; + _vertices_type * vertices; + + Vertices(): + vertices_length(0), vertices(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + *(outbuffer + offset + 0) = (this->vertices_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->vertices_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->vertices_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->vertices_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->vertices_length); + for( uint32_t i = 0; i < vertices_length; i++){ + *(outbuffer + offset + 0) = (this->vertices[i] >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->vertices[i] >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->vertices[i] >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->vertices[i] >> (8 * 3)) & 0xFF; + offset += sizeof(this->vertices[i]); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t vertices_lengthT = ((uint32_t) (*(inbuffer + offset))); + vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->vertices_length); + if(vertices_lengthT > vertices_length) + this->vertices = (uint32_t*)realloc(this->vertices, vertices_lengthT * sizeof(uint32_t)); + vertices_length = vertices_lengthT; + for( uint32_t i = 0; i < vertices_length; i++){ + this->st_vertices = ((uint32_t) (*(inbuffer + offset))); + this->st_vertices |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->st_vertices |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->st_vertices |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->st_vertices); + memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(uint32_t)); + } + return offset; + } + + const char * getType(){ return "pcl_msgs/Vertices"; }; + const char * getMD5(){ return "39bd7b1c23763ddd1b882b97cb7cfe11"; }; + + }; + +} +#endif