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: visualization_msgs/InteractiveMarkerUpdate.h
- Revision:
- 0:04ac6be8229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/visualization_msgs/InteractiveMarkerUpdate.h Fri Nov 08 14:38:09 2019 -0300 @@ -0,0 +1,177 @@ +#ifndef _ROS_visualization_msgs_InteractiveMarkerUpdate_h +#define _ROS_visualization_msgs_InteractiveMarkerUpdate_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "visualization_msgs/InteractiveMarker.h" +#include "visualization_msgs/InteractiveMarkerPose.h" + +namespace visualization_msgs +{ + + class InteractiveMarkerUpdate : public ros::Msg + { + public: + typedef const char* _server_id_type; + _server_id_type server_id; + typedef uint64_t _seq_num_type; + _seq_num_type seq_num; + typedef uint8_t _type_type; + _type_type type; + uint32_t markers_length; + typedef visualization_msgs::InteractiveMarker _markers_type; + _markers_type st_markers; + _markers_type * markers; + uint32_t poses_length; + typedef visualization_msgs::InteractiveMarkerPose _poses_type; + _poses_type st_poses; + _poses_type * poses; + uint32_t erases_length; + typedef char* _erases_type; + _erases_type st_erases; + _erases_type * erases; + enum { KEEP_ALIVE = 0 }; + enum { UPDATE = 1 }; + + InteractiveMarkerUpdate(): + server_id(""), + seq_num(0), + type(0), + markers_length(0), markers(NULL), + poses_length(0), poses(NULL), + erases_length(0), erases(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + uint32_t length_server_id = strlen(this->server_id); + varToArr(outbuffer + offset, length_server_id); + offset += 4; + memcpy(outbuffer + offset, this->server_id, length_server_id); + offset += length_server_id; + union { + uint64_t real; + uint32_t base; + } u_seq_num; + u_seq_num.real = this->seq_num; + *(outbuffer + offset + 0) = (u_seq_num.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_seq_num.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_seq_num.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_seq_num.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->seq_num); + *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF; + offset += sizeof(this->type); + *(outbuffer + offset + 0) = (this->markers_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->markers_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->markers_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->markers_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->markers_length); + for( uint32_t i = 0; i < markers_length; i++){ + offset += this->markers[i].serialize(outbuffer + offset); + } + *(outbuffer + offset + 0) = (this->poses_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->poses_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->poses_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->poses_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->poses_length); + for( uint32_t i = 0; i < poses_length; i++){ + offset += this->poses[i].serialize(outbuffer + offset); + } + *(outbuffer + offset + 0) = (this->erases_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->erases_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->erases_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->erases_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->erases_length); + for( uint32_t i = 0; i < erases_length; i++){ + uint32_t length_erasesi = strlen(this->erases[i]); + varToArr(outbuffer + offset, length_erasesi); + offset += 4; + memcpy(outbuffer + offset, this->erases[i], length_erasesi); + offset += length_erasesi; + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_server_id; + arrToVar(length_server_id, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_server_id; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_server_id-1]=0; + this->server_id = (char *)(inbuffer + offset-1); + offset += length_server_id; + union { + uint64_t real; + uint32_t base; + } u_seq_num; + u_seq_num.base = 0; + u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->seq_num = u_seq_num.real; + offset += sizeof(this->seq_num); + this->type = ((uint8_t) (*(inbuffer + offset))); + offset += sizeof(this->type); + uint32_t markers_lengthT = ((uint32_t) (*(inbuffer + offset))); + markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->markers_length); + if(markers_lengthT > markers_length) + this->markers = (visualization_msgs::InteractiveMarker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::InteractiveMarker)); + markers_length = markers_lengthT; + for( uint32_t i = 0; i < markers_length; i++){ + offset += this->st_markers.deserialize(inbuffer + offset); + memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::InteractiveMarker)); + } + uint32_t poses_lengthT = ((uint32_t) (*(inbuffer + offset))); + poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->poses_length); + if(poses_lengthT > poses_length) + this->poses = (visualization_msgs::InteractiveMarkerPose*)realloc(this->poses, poses_lengthT * sizeof(visualization_msgs::InteractiveMarkerPose)); + poses_length = poses_lengthT; + for( uint32_t i = 0; i < poses_length; i++){ + offset += this->st_poses.deserialize(inbuffer + offset); + memcpy( &(this->poses[i]), &(this->st_poses), sizeof(visualization_msgs::InteractiveMarkerPose)); + } + uint32_t erases_lengthT = ((uint32_t) (*(inbuffer + offset))); + erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->erases_length); + if(erases_lengthT > erases_length) + this->erases = (char**)realloc(this->erases, erases_lengthT * sizeof(char*)); + erases_length = erases_lengthT; + for( uint32_t i = 0; i < erases_length; i++){ + uint32_t length_st_erases; + arrToVar(length_st_erases, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_erases; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_erases-1]=0; + this->st_erases = (char *)(inbuffer + offset-1); + offset += length_st_erases; + memcpy( &(this->erases[i]), &(this->st_erases), sizeof(char*)); + } + return offset; + } + + const char * getType(){ return "visualization_msgs/InteractiveMarkerUpdate"; }; + const char * getMD5(){ return "710d308d0a9276d65945e92dd30b3946"; }; + + }; + +} +#endif