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/SmachContainerStructure.h
- Revision:
- 0:04ac6be8229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/smach_msgs/SmachContainerStructure.h Fri Nov 08 14:38:09 2019 -0300 @@ -0,0 +1,246 @@ +#ifndef _ROS_smach_msgs_SmachContainerStructure_h +#define _ROS_smach_msgs_SmachContainerStructure_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" + +namespace smach_msgs +{ + + class SmachContainerStructure : public ros::Msg + { + public: + typedef std_msgs::Header _header_type; + _header_type header; + typedef const char* _path_type; + _path_type path; + uint32_t children_length; + typedef char* _children_type; + _children_type st_children; + _children_type * children; + uint32_t internal_outcomes_length; + typedef char* _internal_outcomes_type; + _internal_outcomes_type st_internal_outcomes; + _internal_outcomes_type * internal_outcomes; + uint32_t outcomes_from_length; + typedef char* _outcomes_from_type; + _outcomes_from_type st_outcomes_from; + _outcomes_from_type * outcomes_from; + uint32_t outcomes_to_length; + typedef char* _outcomes_to_type; + _outcomes_to_type st_outcomes_to; + _outcomes_to_type * outcomes_to; + uint32_t container_outcomes_length; + typedef char* _container_outcomes_type; + _container_outcomes_type st_container_outcomes; + _container_outcomes_type * container_outcomes; + + SmachContainerStructure(): + header(), + path(""), + children_length(0), children(NULL), + internal_outcomes_length(0), internal_outcomes(NULL), + outcomes_from_length(0), outcomes_from(NULL), + outcomes_to_length(0), outcomes_to(NULL), + container_outcomes_length(0), container_outcomes(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + 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->children_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->children_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->children_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->children_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->children_length); + for( uint32_t i = 0; i < children_length; i++){ + uint32_t length_childreni = strlen(this->children[i]); + varToArr(outbuffer + offset, length_childreni); + offset += 4; + memcpy(outbuffer + offset, this->children[i], length_childreni); + offset += length_childreni; + } + *(outbuffer + offset + 0) = (this->internal_outcomes_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->internal_outcomes_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->internal_outcomes_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->internal_outcomes_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->internal_outcomes_length); + for( uint32_t i = 0; i < internal_outcomes_length; i++){ + uint32_t length_internal_outcomesi = strlen(this->internal_outcomes[i]); + varToArr(outbuffer + offset, length_internal_outcomesi); + offset += 4; + memcpy(outbuffer + offset, this->internal_outcomes[i], length_internal_outcomesi); + offset += length_internal_outcomesi; + } + *(outbuffer + offset + 0) = (this->outcomes_from_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->outcomes_from_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->outcomes_from_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->outcomes_from_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->outcomes_from_length); + for( uint32_t i = 0; i < outcomes_from_length; i++){ + uint32_t length_outcomes_fromi = strlen(this->outcomes_from[i]); + varToArr(outbuffer + offset, length_outcomes_fromi); + offset += 4; + memcpy(outbuffer + offset, this->outcomes_from[i], length_outcomes_fromi); + offset += length_outcomes_fromi; + } + *(outbuffer + offset + 0) = (this->outcomes_to_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->outcomes_to_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->outcomes_to_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->outcomes_to_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->outcomes_to_length); + for( uint32_t i = 0; i < outcomes_to_length; i++){ + uint32_t length_outcomes_toi = strlen(this->outcomes_to[i]); + varToArr(outbuffer + offset, length_outcomes_toi); + offset += 4; + memcpy(outbuffer + offset, this->outcomes_to[i], length_outcomes_toi); + offset += length_outcomes_toi; + } + *(outbuffer + offset + 0) = (this->container_outcomes_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->container_outcomes_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->container_outcomes_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->container_outcomes_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->container_outcomes_length); + for( uint32_t i = 0; i < container_outcomes_length; i++){ + uint32_t length_container_outcomesi = strlen(this->container_outcomes[i]); + varToArr(outbuffer + offset, length_container_outcomesi); + offset += 4; + memcpy(outbuffer + offset, this->container_outcomes[i], length_container_outcomesi); + offset += length_container_outcomesi; + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + 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 children_lengthT = ((uint32_t) (*(inbuffer + offset))); + children_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + children_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + children_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->children_length); + if(children_lengthT > children_length) + this->children = (char**)realloc(this->children, children_lengthT * sizeof(char*)); + children_length = children_lengthT; + for( uint32_t i = 0; i < children_length; i++){ + uint32_t length_st_children; + arrToVar(length_st_children, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_children; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_children-1]=0; + this->st_children = (char *)(inbuffer + offset-1); + offset += length_st_children; + memcpy( &(this->children[i]), &(this->st_children), sizeof(char*)); + } + uint32_t internal_outcomes_lengthT = ((uint32_t) (*(inbuffer + offset))); + internal_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + internal_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + internal_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->internal_outcomes_length); + if(internal_outcomes_lengthT > internal_outcomes_length) + this->internal_outcomes = (char**)realloc(this->internal_outcomes, internal_outcomes_lengthT * sizeof(char*)); + internal_outcomes_length = internal_outcomes_lengthT; + for( uint32_t i = 0; i < internal_outcomes_length; i++){ + uint32_t length_st_internal_outcomes; + arrToVar(length_st_internal_outcomes, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_internal_outcomes; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_internal_outcomes-1]=0; + this->st_internal_outcomes = (char *)(inbuffer + offset-1); + offset += length_st_internal_outcomes; + memcpy( &(this->internal_outcomes[i]), &(this->st_internal_outcomes), sizeof(char*)); + } + uint32_t outcomes_from_lengthT = ((uint32_t) (*(inbuffer + offset))); + outcomes_from_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + outcomes_from_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + outcomes_from_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->outcomes_from_length); + if(outcomes_from_lengthT > outcomes_from_length) + this->outcomes_from = (char**)realloc(this->outcomes_from, outcomes_from_lengthT * sizeof(char*)); + outcomes_from_length = outcomes_from_lengthT; + for( uint32_t i = 0; i < outcomes_from_length; i++){ + uint32_t length_st_outcomes_from; + arrToVar(length_st_outcomes_from, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_outcomes_from; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_outcomes_from-1]=0; + this->st_outcomes_from = (char *)(inbuffer + offset-1); + offset += length_st_outcomes_from; + memcpy( &(this->outcomes_from[i]), &(this->st_outcomes_from), sizeof(char*)); + } + uint32_t outcomes_to_lengthT = ((uint32_t) (*(inbuffer + offset))); + outcomes_to_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + outcomes_to_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + outcomes_to_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->outcomes_to_length); + if(outcomes_to_lengthT > outcomes_to_length) + this->outcomes_to = (char**)realloc(this->outcomes_to, outcomes_to_lengthT * sizeof(char*)); + outcomes_to_length = outcomes_to_lengthT; + for( uint32_t i = 0; i < outcomes_to_length; i++){ + uint32_t length_st_outcomes_to; + arrToVar(length_st_outcomes_to, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_outcomes_to; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_outcomes_to-1]=0; + this->st_outcomes_to = (char *)(inbuffer + offset-1); + offset += length_st_outcomes_to; + memcpy( &(this->outcomes_to[i]), &(this->st_outcomes_to), sizeof(char*)); + } + uint32_t container_outcomes_lengthT = ((uint32_t) (*(inbuffer + offset))); + container_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + container_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + container_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->container_outcomes_length); + if(container_outcomes_lengthT > container_outcomes_length) + this->container_outcomes = (char**)realloc(this->container_outcomes, container_outcomes_lengthT * sizeof(char*)); + container_outcomes_length = container_outcomes_lengthT; + for( uint32_t i = 0; i < container_outcomes_length; i++){ + uint32_t length_st_container_outcomes; + arrToVar(length_st_container_outcomes, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_container_outcomes; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_container_outcomes-1]=0; + this->st_container_outcomes = (char *)(inbuffer + offset-1); + offset += length_st_container_outcomes; + memcpy( &(this->container_outcomes[i]), &(this->st_container_outcomes), sizeof(char*)); + } + return offset; + } + + const char * getType(){ return "smach_msgs/SmachContainerStructure"; }; + const char * getMD5(){ return "3d3d1e0d0f99779ee9e58101a5dcf7ea"; }; + + }; + +} +#endif