Gary Servin
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
Last commit 08 Nov 2019 by 
Gary Servin
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: sensor_msgs/BatteryState.h
- Revision:
- 0:04ac6be8229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/BatteryState.h Fri Nov 08 14:38:09 2019 -0300
@@ -0,0 +1,326 @@
+#ifndef _ROS_sensor_msgs_BatteryState_h
+#define _ROS_sensor_msgs_BatteryState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+ class BatteryState : public ros::Msg
+ {
+ public:
+ typedef std_msgs::Header _header_type;
+ _header_type header;
+ typedef float _voltage_type;
+ _voltage_type voltage;
+ typedef float _current_type;
+ _current_type current;
+ typedef float _charge_type;
+ _charge_type charge;
+ typedef float _capacity_type;
+ _capacity_type capacity;
+ typedef float _design_capacity_type;
+ _design_capacity_type design_capacity;
+ typedef float _percentage_type;
+ _percentage_type percentage;
+ typedef uint8_t _power_supply_status_type;
+ _power_supply_status_type power_supply_status;
+ typedef uint8_t _power_supply_health_type;
+ _power_supply_health_type power_supply_health;
+ typedef uint8_t _power_supply_technology_type;
+ _power_supply_technology_type power_supply_technology;
+ typedef bool _present_type;
+ _present_type present;
+ uint32_t cell_voltage_length;
+ typedef float _cell_voltage_type;
+ _cell_voltage_type st_cell_voltage;
+ _cell_voltage_type * cell_voltage;
+ typedef const char* _location_type;
+ _location_type location;
+ typedef const char* _serial_number_type;
+ _serial_number_type serial_number;
+ enum { POWER_SUPPLY_STATUS_UNKNOWN = 0 };
+ enum { POWER_SUPPLY_STATUS_CHARGING = 1 };
+ enum { POWER_SUPPLY_STATUS_DISCHARGING = 2 };
+ enum { POWER_SUPPLY_STATUS_NOT_CHARGING = 3 };
+ enum { POWER_SUPPLY_STATUS_FULL = 4 };
+ enum { POWER_SUPPLY_HEALTH_UNKNOWN = 0 };
+ enum { POWER_SUPPLY_HEALTH_GOOD = 1 };
+ enum { POWER_SUPPLY_HEALTH_OVERHEAT = 2 };
+ enum { POWER_SUPPLY_HEALTH_DEAD = 3 };
+ enum { POWER_SUPPLY_HEALTH_OVERVOLTAGE = 4 };
+ enum { POWER_SUPPLY_HEALTH_UNSPEC_FAILURE = 5 };
+ enum { POWER_SUPPLY_HEALTH_COLD = 6 };
+ enum { POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE = 7 };
+ enum { POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE = 8 };
+ enum { POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0 };
+ enum { POWER_SUPPLY_TECHNOLOGY_NIMH = 1 };
+ enum { POWER_SUPPLY_TECHNOLOGY_LION = 2 };
+ enum { POWER_SUPPLY_TECHNOLOGY_LIPO = 3 };
+ enum { POWER_SUPPLY_TECHNOLOGY_LIFE = 4 };
+ enum { POWER_SUPPLY_TECHNOLOGY_NICD = 5 };
+ enum { POWER_SUPPLY_TECHNOLOGY_LIMN = 6 };
+
+ BatteryState():
+ header(),
+ voltage(0),
+ current(0),
+ charge(0),
+ capacity(0),
+ design_capacity(0),
+ percentage(0),
+ power_supply_status(0),
+ power_supply_health(0),
+ power_supply_technology(0),
+ present(0),
+ cell_voltage_length(0), cell_voltage(NULL),
+ location(""),
+ serial_number("")
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ offset += this->header.serialize(outbuffer + offset);
+ union {
+ float real;
+ uint32_t base;
+ } u_voltage;
+ u_voltage.real = this->voltage;
+ *(outbuffer + offset + 0) = (u_voltage.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_voltage.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_voltage.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_voltage.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->voltage);
+ union {
+ float real;
+ uint32_t base;
+ } u_current;
+ u_current.real = this->current;
+ *(outbuffer + offset + 0) = (u_current.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_current.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_current.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_current.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->current);
+ union {
+ float real;
+ uint32_t base;
+ } u_charge;
+ u_charge.real = this->charge;
+ *(outbuffer + offset + 0) = (u_charge.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_charge.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_charge.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_charge.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->charge);
+ union {
+ float real;
+ uint32_t base;
+ } u_capacity;
+ u_capacity.real = this->capacity;
+ *(outbuffer + offset + 0) = (u_capacity.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_capacity.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_capacity.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_capacity.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->capacity);
+ union {
+ float real;
+ uint32_t base;
+ } u_design_capacity;
+ u_design_capacity.real = this->design_capacity;
+ *(outbuffer + offset + 0) = (u_design_capacity.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_design_capacity.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_design_capacity.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_design_capacity.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->design_capacity);
+ union {
+ float real;
+ uint32_t base;
+ } u_percentage;
+ u_percentage.real = this->percentage;
+ *(outbuffer + offset + 0) = (u_percentage.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_percentage.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_percentage.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_percentage.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->percentage);
+ *(outbuffer + offset + 0) = (this->power_supply_status >> (8 * 0)) & 0xFF;
+ offset += sizeof(this->power_supply_status);
+ *(outbuffer + offset + 0) = (this->power_supply_health >> (8 * 0)) & 0xFF;
+ offset += sizeof(this->power_supply_health);
+ *(outbuffer + offset + 0) = (this->power_supply_technology >> (8 * 0)) & 0xFF;
+ offset += sizeof(this->power_supply_technology);
+ union {
+ bool real;
+ uint8_t base;
+ } u_present;
+ u_present.real = this->present;
+ *(outbuffer + offset + 0) = (u_present.base >> (8 * 0)) & 0xFF;
+ offset += sizeof(this->present);
+ *(outbuffer + offset + 0) = (this->cell_voltage_length >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->cell_voltage_length >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->cell_voltage_length >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->cell_voltage_length >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->cell_voltage_length);
+ for( uint32_t i = 0; i < cell_voltage_length; i++){
+ union {
+ float real;
+ uint32_t base;
+ } u_cell_voltagei;
+ u_cell_voltagei.real = this->cell_voltage[i];
+ *(outbuffer + offset + 0) = (u_cell_voltagei.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_cell_voltagei.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_cell_voltagei.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_cell_voltagei.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->cell_voltage[i]);
+ }
+ uint32_t length_location = strlen(this->location);
+ varToArr(outbuffer + offset, length_location);
+ offset += 4;
+ memcpy(outbuffer + offset, this->location, length_location);
+ offset += length_location;
+ uint32_t length_serial_number = strlen(this->serial_number);
+ varToArr(outbuffer + offset, length_serial_number);
+ offset += 4;
+ memcpy(outbuffer + offset, this->serial_number, length_serial_number);
+ offset += length_serial_number;
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ offset += this->header.deserialize(inbuffer + offset);
+ union {
+ float real;
+ uint32_t base;
+ } u_voltage;
+ u_voltage.base = 0;
+ u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->voltage = u_voltage.real;
+ offset += sizeof(this->voltage);
+ union {
+ float real;
+ uint32_t base;
+ } u_current;
+ u_current.base = 0;
+ u_current.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_current.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_current.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_current.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->current = u_current.real;
+ offset += sizeof(this->current);
+ union {
+ float real;
+ uint32_t base;
+ } u_charge;
+ u_charge.base = 0;
+ u_charge.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_charge.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_charge.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_charge.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->charge = u_charge.real;
+ offset += sizeof(this->charge);
+ union {
+ float real;
+ uint32_t base;
+ } u_capacity;
+ u_capacity.base = 0;
+ u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->capacity = u_capacity.real;
+ offset += sizeof(this->capacity);
+ union {
+ float real;
+ uint32_t base;
+ } u_design_capacity;
+ u_design_capacity.base = 0;
+ u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->design_capacity = u_design_capacity.real;
+ offset += sizeof(this->design_capacity);
+ union {
+ float real;
+ uint32_t base;
+ } u_percentage;
+ u_percentage.base = 0;
+ u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->percentage = u_percentage.real;
+ offset += sizeof(this->percentage);
+ this->power_supply_status = ((uint8_t) (*(inbuffer + offset)));
+ offset += sizeof(this->power_supply_status);
+ this->power_supply_health = ((uint8_t) (*(inbuffer + offset)));
+ offset += sizeof(this->power_supply_health);
+ this->power_supply_technology = ((uint8_t) (*(inbuffer + offset)));
+ offset += sizeof(this->power_supply_technology);
+ union {
+ bool real;
+ uint8_t base;
+ } u_present;
+ u_present.base = 0;
+ u_present.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ this->present = u_present.real;
+ offset += sizeof(this->present);
+ uint32_t cell_voltage_lengthT = ((uint32_t) (*(inbuffer + offset)));
+ cell_voltage_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ cell_voltage_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ cell_voltage_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->cell_voltage_length);
+ if(cell_voltage_lengthT > cell_voltage_length)
+ this->cell_voltage = (float*)realloc(this->cell_voltage, cell_voltage_lengthT * sizeof(float));
+ cell_voltage_length = cell_voltage_lengthT;
+ for( uint32_t i = 0; i < cell_voltage_length; i++){
+ union {
+ float real;
+ uint32_t base;
+ } u_st_cell_voltage;
+ u_st_cell_voltage.base = 0;
+ u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->st_cell_voltage = u_st_cell_voltage.real;
+ offset += sizeof(this->st_cell_voltage);
+ memcpy( &(this->cell_voltage[i]), &(this->st_cell_voltage), sizeof(float));
+ }
+ uint32_t length_location;
+ arrToVar(length_location, (inbuffer + offset));
+ offset += 4;
+ for(unsigned int k= offset; k< offset+length_location; ++k){
+ inbuffer[k-1]=inbuffer[k];
+ }
+ inbuffer[offset+length_location-1]=0;
+ this->location = (char *)(inbuffer + offset-1);
+ offset += length_location;
+ uint32_t length_serial_number;
+ arrToVar(length_serial_number, (inbuffer + offset));
+ offset += 4;
+ for(unsigned int k= offset; k< offset+length_serial_number; ++k){
+ inbuffer[k-1]=inbuffer[k];
+ }
+ inbuffer[offset+length_serial_number-1]=0;
+ this->serial_number = (char *)(inbuffer + offset-1);
+ offset += length_serial_number;
+ return offset;
+ }
+
+ const char * getType(){ return "sensor_msgs/BatteryState"; };
+ const char * getMD5(){ return "476f837fa6771f6e16e3bf4ef96f8770"; };
+
+ };
+
+}
+#endif