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: smach_msgs/SmachContainerInitialStatusCmd.h
- Revision:
- 0:04ac6be8229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/smach_msgs/SmachContainerInitialStatusCmd.h Fri Nov 08 14:38:09 2019 -0300 @@ -0,0 +1,109 @@ +#ifndef _ROS_smach_msgs_SmachContainerInitialStatusCmd_h +#define _ROS_smach_msgs_SmachContainerInitialStatusCmd_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace smach_msgs +{ + + class SmachContainerInitialStatusCmd : public ros::Msg + { + public: + typedef const char* _path_type; + _path_type path; + uint32_t initial_states_length; + typedef char* _initial_states_type; + _initial_states_type st_initial_states; + _initial_states_type * initial_states; + typedef const char* _local_data_type; + _local_data_type local_data; + + SmachContainerInitialStatusCmd(): + path(""), + initial_states_length(0), initial_states(NULL), + local_data("") + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + uint32_t length_path = strlen(this->path); + varToArr(outbuffer + offset, length_path); + offset += 4; + memcpy(outbuffer + offset, this->path, length_path); + offset += length_path; + *(outbuffer + offset + 0) = (this->initial_states_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->initial_states_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->initial_states_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->initial_states_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->initial_states_length); + for( uint32_t i = 0; i < initial_states_length; i++){ + uint32_t length_initial_statesi = strlen(this->initial_states[i]); + varToArr(outbuffer + offset, length_initial_statesi); + offset += 4; + memcpy(outbuffer + offset, this->initial_states[i], length_initial_statesi); + offset += length_initial_statesi; + } + uint32_t length_local_data = strlen(this->local_data); + varToArr(outbuffer + offset, length_local_data); + offset += 4; + memcpy(outbuffer + offset, this->local_data, length_local_data); + offset += length_local_data; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_path; + arrToVar(length_path, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_path; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_path-1]=0; + this->path = (char *)(inbuffer + offset-1); + offset += length_path; + uint32_t initial_states_lengthT = ((uint32_t) (*(inbuffer + offset))); + initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->initial_states_length); + if(initial_states_lengthT > initial_states_length) + this->initial_states = (char**)realloc(this->initial_states, initial_states_lengthT * sizeof(char*)); + initial_states_length = initial_states_lengthT; + for( uint32_t i = 0; i < initial_states_length; i++){ + uint32_t length_st_initial_states; + arrToVar(length_st_initial_states, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_initial_states; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_initial_states-1]=0; + this->st_initial_states = (char *)(inbuffer + offset-1); + offset += length_st_initial_states; + memcpy( &(this->initial_states[i]), &(this->st_initial_states), sizeof(char*)); + } + uint32_t length_local_data; + arrToVar(length_local_data, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_local_data; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_local_data-1]=0; + this->local_data = (char *)(inbuffer + offset-1); + offset += length_local_data; + return offset; + } + + const char * getType(){ return "smach_msgs/SmachContainerInitialStatusCmd"; }; + const char * getMD5(){ return "45f8cf31fc29b829db77f23001f788d6"; }; + + }; + +} +#endif