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/ControllerStatistics.h
- Committer:
- Gary Servin
- Date:
- 2019-11-08
- Revision:
- 1:da82487f547e
- Parent:
- 0:04ac6be8229a
File content as of revision 1:da82487f547e:
#ifndef _ROS_controller_manager_msgs_ControllerStatistics_h #define _ROS_controller_manager_msgs_ControllerStatistics_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "ros/time.h" #include "ros/duration.h" namespace controller_manager_msgs { class ControllerStatistics : public ros::Msg { public: typedef const char* _name_type; _name_type name; typedef const char* _type_type; _type_type type; typedef ros::Time _timestamp_type; _timestamp_type timestamp; typedef bool _running_type; _running_type running; typedef ros::Duration _max_time_type; _max_time_type max_time; typedef ros::Duration _mean_time_type; _mean_time_type mean_time; typedef ros::Duration _variance_time_type; _variance_time_type variance_time; typedef int32_t _num_control_loop_overruns_type; _num_control_loop_overruns_type num_control_loop_overruns; typedef ros::Time _time_last_control_loop_overrun_type; _time_last_control_loop_overrun_type time_last_control_loop_overrun; ControllerStatistics(): name(""), type(""), timestamp(), running(0), max_time(), mean_time(), variance_time(), num_control_loop_overruns(0), time_last_control_loop_overrun() { } 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_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->timestamp.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->timestamp.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->timestamp.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->timestamp.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->timestamp.sec); *(outbuffer + offset + 0) = (this->timestamp.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->timestamp.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->timestamp.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->timestamp.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->timestamp.nsec); union { bool real; uint8_t base; } u_running; u_running.real = this->running; *(outbuffer + offset + 0) = (u_running.base >> (8 * 0)) & 0xFF; offset += sizeof(this->running); *(outbuffer + offset + 0) = (this->max_time.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->max_time.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->max_time.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->max_time.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->max_time.sec); *(outbuffer + offset + 0) = (this->max_time.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->max_time.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->max_time.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->max_time.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->max_time.nsec); *(outbuffer + offset + 0) = (this->mean_time.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->mean_time.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->mean_time.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->mean_time.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->mean_time.sec); *(outbuffer + offset + 0) = (this->mean_time.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->mean_time.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->mean_time.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->mean_time.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->mean_time.nsec); *(outbuffer + offset + 0) = (this->variance_time.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->variance_time.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->variance_time.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->variance_time.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->variance_time.sec); *(outbuffer + offset + 0) = (this->variance_time.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->variance_time.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->variance_time.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->variance_time.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->variance_time.nsec); union { int32_t real; uint32_t base; } u_num_control_loop_overruns; u_num_control_loop_overruns.real = this->num_control_loop_overruns; *(outbuffer + offset + 0) = (u_num_control_loop_overruns.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_num_control_loop_overruns.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_num_control_loop_overruns.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_num_control_loop_overruns.base >> (8 * 3)) & 0xFF; offset += sizeof(this->num_control_loop_overruns); *(outbuffer + offset + 0) = (this->time_last_control_loop_overrun.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->time_last_control_loop_overrun.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->time_last_control_loop_overrun.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->time_last_control_loop_overrun.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->time_last_control_loop_overrun.sec); *(outbuffer + offset + 0) = (this->time_last_control_loop_overrun.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->time_last_control_loop_overrun.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->time_last_control_loop_overrun.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->time_last_control_loop_overrun.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->time_last_control_loop_overrun.nsec); 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_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; this->timestamp.sec = ((uint32_t) (*(inbuffer + offset))); this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->timestamp.sec); this->timestamp.nsec = ((uint32_t) (*(inbuffer + offset))); this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->timestamp.nsec); union { bool real; uint8_t base; } u_running; u_running.base = 0; u_running.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); this->running = u_running.real; offset += sizeof(this->running); this->max_time.sec = ((uint32_t) (*(inbuffer + offset))); this->max_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->max_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->max_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->max_time.sec); this->max_time.nsec = ((uint32_t) (*(inbuffer + offset))); this->max_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->max_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->max_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->max_time.nsec); this->mean_time.sec = ((uint32_t) (*(inbuffer + offset))); this->mean_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->mean_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->mean_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->mean_time.sec); this->mean_time.nsec = ((uint32_t) (*(inbuffer + offset))); this->mean_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->mean_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->mean_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->mean_time.nsec); this->variance_time.sec = ((uint32_t) (*(inbuffer + offset))); this->variance_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->variance_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->variance_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->variance_time.sec); this->variance_time.nsec = ((uint32_t) (*(inbuffer + offset))); this->variance_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->variance_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->variance_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->variance_time.nsec); union { int32_t real; uint32_t base; } u_num_control_loop_overruns; u_num_control_loop_overruns.base = 0; u_num_control_loop_overruns.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_num_control_loop_overruns.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_num_control_loop_overruns.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_num_control_loop_overruns.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->num_control_loop_overruns = u_num_control_loop_overruns.real; offset += sizeof(this->num_control_loop_overruns); this->time_last_control_loop_overrun.sec = ((uint32_t) (*(inbuffer + offset))); this->time_last_control_loop_overrun.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->time_last_control_loop_overrun.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->time_last_control_loop_overrun.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->time_last_control_loop_overrun.sec); this->time_last_control_loop_overrun.nsec = ((uint32_t) (*(inbuffer + offset))); this->time_last_control_loop_overrun.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->time_last_control_loop_overrun.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->time_last_control_loop_overrun.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->time_last_control_loop_overrun.nsec); return offset; } const char * getType(){ return "controller_manager_msgs/ControllerStatistics"; }; const char * getMD5(){ return "697780c372c8d8597a1436d0e2ad3ba8"; }; }; } #endif