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(); } }
controller_manager_msgs/ControllerState.h
- Committer:
- Gary Servin
- Date:
- 2019-11-08
- Revision:
- 0:04ac6be8229a
File content as of revision 0:04ac6be8229a:
#ifndef _ROS_controller_manager_msgs_ControllerState_h #define _ROS_controller_manager_msgs_ControllerState_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "controller_manager_msgs/HardwareInterfaceResources.h" namespace controller_manager_msgs { class ControllerState : public ros::Msg { public: typedef const char* _name_type; _name_type name; typedef const char* _state_type; _state_type state; typedef const char* _type_type; _type_type type; uint32_t claimed_resources_length; typedef controller_manager_msgs::HardwareInterfaceResources _claimed_resources_type; _claimed_resources_type st_claimed_resources; _claimed_resources_type * claimed_resources; ControllerState(): name(""), state(""), type(""), claimed_resources_length(0), claimed_resources(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_name = strlen(this->name); varToArr(outbuffer + offset, length_name); offset += 4; memcpy(outbuffer + offset, this->name, length_name); offset += length_name; uint32_t length_state = strlen(this->state); varToArr(outbuffer + offset, length_state); offset += 4; memcpy(outbuffer + offset, this->state, length_state); offset += length_state; uint32_t length_type = strlen(this->type); varToArr(outbuffer + offset, length_type); offset += 4; memcpy(outbuffer + offset, this->type, length_type); offset += length_type; *(outbuffer + offset + 0) = (this->claimed_resources_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->claimed_resources_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->claimed_resources_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->claimed_resources_length >> (8 * 3)) & 0xFF; offset += sizeof(this->claimed_resources_length); for( uint32_t i = 0; i < claimed_resources_length; i++){ offset += this->claimed_resources[i].serialize(outbuffer + offset); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_name; arrToVar(length_name, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_name-1]=0; this->name = (char *)(inbuffer + offset-1); offset += length_name; uint32_t length_state; arrToVar(length_state, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_state; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_state-1]=0; this->state = (char *)(inbuffer + offset-1); offset += length_state; uint32_t length_type; arrToVar(length_type, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_type; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_type-1]=0; this->type = (char *)(inbuffer + offset-1); offset += length_type; uint32_t claimed_resources_lengthT = ((uint32_t) (*(inbuffer + offset))); claimed_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); claimed_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); claimed_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->claimed_resources_length); if(claimed_resources_lengthT > claimed_resources_length) this->claimed_resources = (controller_manager_msgs::HardwareInterfaceResources*)realloc(this->claimed_resources, claimed_resources_lengthT * sizeof(controller_manager_msgs::HardwareInterfaceResources)); claimed_resources_length = claimed_resources_lengthT; for( uint32_t i = 0; i < claimed_resources_length; i++){ offset += this->st_claimed_resources.deserialize(inbuffer + offset); memcpy( &(this->claimed_resources[i]), &(this->st_claimed_resources), sizeof(controller_manager_msgs::HardwareInterfaceResources)); } return offset; } const char * getType(){ return "controller_manager_msgs/ControllerState"; }; const char * getMD5(){ return "aeb6b261d97793ab74099a3740245272"; }; }; } #endif