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/CameraInfo.h
- Revision:
- 0:04ac6be8229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/CameraInfo.h Fri Nov 08 14:38:09 2019 -0300
@@ -0,0 +1,276 @@
+#ifndef _ROS_sensor_msgs_CameraInfo_h
+#define _ROS_sensor_msgs_CameraInfo_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/RegionOfInterest.h"
+
+namespace sensor_msgs
+{
+
+ class CameraInfo : public ros::Msg
+ {
+ public:
+ typedef std_msgs::Header _header_type;
+ _header_type header;
+ typedef uint32_t _height_type;
+ _height_type height;
+ typedef uint32_t _width_type;
+ _width_type width;
+ typedef const char* _distortion_model_type;
+ _distortion_model_type distortion_model;
+ uint32_t D_length;
+ typedef double _D_type;
+ _D_type st_D;
+ _D_type * D;
+ double K[9];
+ double R[9];
+ double P[12];
+ typedef uint32_t _binning_x_type;
+ _binning_x_type binning_x;
+ typedef uint32_t _binning_y_type;
+ _binning_y_type binning_y;
+ typedef sensor_msgs::RegionOfInterest _roi_type;
+ _roi_type roi;
+
+ CameraInfo():
+ header(),
+ height(0),
+ width(0),
+ distortion_model(""),
+ D_length(0), D(NULL),
+ K(),
+ R(),
+ P(),
+ binning_x(0),
+ binning_y(0),
+ roi()
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ offset += this->header.serialize(outbuffer + offset);
+ *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->height);
+ *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->width);
+ uint32_t length_distortion_model = strlen(this->distortion_model);
+ varToArr(outbuffer + offset, length_distortion_model);
+ offset += 4;
+ memcpy(outbuffer + offset, this->distortion_model, length_distortion_model);
+ offset += length_distortion_model;
+ *(outbuffer + offset + 0) = (this->D_length >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->D_length >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->D_length >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->D_length >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->D_length);
+ for( uint32_t i = 0; i < D_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_Di;
+ u_Di.real = this->D[i];
+ *(outbuffer + offset + 0) = (u_Di.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_Di.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_Di.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_Di.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_Di.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_Di.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_Di.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_Di.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->D[i]);
+ }
+ for( uint32_t i = 0; i < 9; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_Ki;
+ u_Ki.real = this->K[i];
+ *(outbuffer + offset + 0) = (u_Ki.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_Ki.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_Ki.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_Ki.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_Ki.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_Ki.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_Ki.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_Ki.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->K[i]);
+ }
+ for( uint32_t i = 0; i < 9; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_Ri;
+ u_Ri.real = this->R[i];
+ *(outbuffer + offset + 0) = (u_Ri.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_Ri.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_Ri.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_Ri.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_Ri.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_Ri.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_Ri.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_Ri.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->R[i]);
+ }
+ for( uint32_t i = 0; i < 12; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_Pi;
+ u_Pi.real = this->P[i];
+ *(outbuffer + offset + 0) = (u_Pi.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_Pi.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_Pi.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_Pi.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_Pi.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_Pi.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_Pi.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_Pi.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->P[i]);
+ }
+ *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->binning_x);
+ *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->binning_y);
+ offset += this->roi.serialize(outbuffer + offset);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ offset += this->header.deserialize(inbuffer + offset);
+ this->height = ((uint32_t) (*(inbuffer + offset)));
+ this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->height);
+ this->width = ((uint32_t) (*(inbuffer + offset)));
+ this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->width);
+ uint32_t length_distortion_model;
+ arrToVar(length_distortion_model, (inbuffer + offset));
+ offset += 4;
+ for(unsigned int k= offset; k< offset+length_distortion_model; ++k){
+ inbuffer[k-1]=inbuffer[k];
+ }
+ inbuffer[offset+length_distortion_model-1]=0;
+ this->distortion_model = (char *)(inbuffer + offset-1);
+ offset += length_distortion_model;
+ uint32_t D_lengthT = ((uint32_t) (*(inbuffer + offset)));
+ D_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ D_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ D_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->D_length);
+ if(D_lengthT > D_length)
+ this->D = (double*)realloc(this->D, D_lengthT * sizeof(double));
+ D_length = D_lengthT;
+ for( uint32_t i = 0; i < D_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_st_D;
+ u_st_D.base = 0;
+ u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->st_D = u_st_D.real;
+ offset += sizeof(this->st_D);
+ memcpy( &(this->D[i]), &(this->st_D), sizeof(double));
+ }
+ for( uint32_t i = 0; i < 9; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_Ki;
+ u_Ki.base = 0;
+ u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->K[i] = u_Ki.real;
+ offset += sizeof(this->K[i]);
+ }
+ for( uint32_t i = 0; i < 9; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_Ri;
+ u_Ri.base = 0;
+ u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->R[i] = u_Ri.real;
+ offset += sizeof(this->R[i]);
+ }
+ for( uint32_t i = 0; i < 12; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_Pi;
+ u_Pi.base = 0;
+ u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->P[i] = u_Pi.real;
+ offset += sizeof(this->P[i]);
+ }
+ this->binning_x = ((uint32_t) (*(inbuffer + offset)));
+ this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->binning_x);
+ this->binning_y = ((uint32_t) (*(inbuffer + offset)));
+ this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->binning_y);
+ offset += this->roi.deserialize(inbuffer + offset);
+ return offset;
+ }
+
+ const char * getType(){ return "sensor_msgs/CameraInfo"; };
+ const char * getMD5(){ return "c9a58c1b0b154e0e6da7578cb991d214"; };
+
+ };
+
+}
+#endif