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/ListControllerTypes.h
- Committer:
- Gary Servin
- Date:
- 2019-11-08
- Revision:
- 0:04ac6be8229a
File content as of revision 0:04ac6be8229a:
#ifndef _ROS_SERVICE_ListControllerTypes_h #define _ROS_SERVICE_ListControllerTypes_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace controller_manager_msgs { static const char LISTCONTROLLERTYPES[] = "controller_manager_msgs/ListControllerTypes"; class ListControllerTypesRequest : public ros::Msg { public: ListControllerTypesRequest() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; return offset; } const char * getType(){ return LISTCONTROLLERTYPES; }; const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; }; class ListControllerTypesResponse : public ros::Msg { public: uint32_t types_length; typedef char* _types_type; _types_type st_types; _types_type * types; uint32_t base_classes_length; typedef char* _base_classes_type; _base_classes_type st_base_classes; _base_classes_type * base_classes; ListControllerTypesResponse(): types_length(0), types(NULL), base_classes_length(0), base_classes(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset + 0) = (this->types_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->types_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->types_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->types_length >> (8 * 3)) & 0xFF; offset += sizeof(this->types_length); for( uint32_t i = 0; i < types_length; i++){ uint32_t length_typesi = strlen(this->types[i]); varToArr(outbuffer + offset, length_typesi); offset += 4; memcpy(outbuffer + offset, this->types[i], length_typesi); offset += length_typesi; } *(outbuffer + offset + 0) = (this->base_classes_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->base_classes_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->base_classes_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->base_classes_length >> (8 * 3)) & 0xFF; offset += sizeof(this->base_classes_length); for( uint32_t i = 0; i < base_classes_length; i++){ uint32_t length_base_classesi = strlen(this->base_classes[i]); varToArr(outbuffer + offset, length_base_classesi); offset += 4; memcpy(outbuffer + offset, this->base_classes[i], length_base_classesi); offset += length_base_classesi; } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t types_lengthT = ((uint32_t) (*(inbuffer + offset))); types_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); types_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); types_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->types_length); if(types_lengthT > types_length) this->types = (char**)realloc(this->types, types_lengthT * sizeof(char*)); types_length = types_lengthT; for( uint32_t i = 0; i < types_length; i++){ uint32_t length_st_types; arrToVar(length_st_types, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_st_types; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_types-1]=0; this->st_types = (char *)(inbuffer + offset-1); offset += length_st_types; memcpy( &(this->types[i]), &(this->st_types), sizeof(char*)); } uint32_t base_classes_lengthT = ((uint32_t) (*(inbuffer + offset))); base_classes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); base_classes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); base_classes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->base_classes_length); if(base_classes_lengthT > base_classes_length) this->base_classes = (char**)realloc(this->base_classes, base_classes_lengthT * sizeof(char*)); base_classes_length = base_classes_lengthT; for( uint32_t i = 0; i < base_classes_length; i++){ uint32_t length_st_base_classes; arrToVar(length_st_base_classes, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_st_base_classes; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_base_classes-1]=0; this->st_base_classes = (char *)(inbuffer + offset-1); offset += length_st_base_classes; memcpy( &(this->base_classes[i]), &(this->st_base_classes), sizeof(char*)); } return offset; } const char * getType(){ return LISTCONTROLLERTYPES; }; const char * getMD5(){ return "c1d4cd11aefa9f97ba4aeb5b33987f4e"; }; }; class ListControllerTypes { public: typedef ListControllerTypesRequest Request; typedef ListControllerTypesResponse Response; }; } #endif