Gary Servin / ros_lib_melodic

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

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

Last commit 08 Nov 2019 by Gary Servin

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/SwitchController.h

Committer:
Gary Servin
Date:
2019-11-08
Revision:
1:da82487f547e
Parent:
0:04ac6be8229a

File content as of revision 1:da82487f547e:

#ifndef _ROS_SERVICE_SwitchController_h
#define _ROS_SERVICE_SwitchController_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"

namespace controller_manager_msgs
{

static const char SWITCHCONTROLLER[] = "controller_manager_msgs/SwitchController";

  class SwitchControllerRequest : public ros::Msg
  {
    public:
      uint32_t start_controllers_length;
      typedef char* _start_controllers_type;
      _start_controllers_type st_start_controllers;
      _start_controllers_type * start_controllers;
      uint32_t stop_controllers_length;
      typedef char* _stop_controllers_type;
      _stop_controllers_type st_stop_controllers;
      _stop_controllers_type * stop_controllers;
      typedef int32_t _strictness_type;
      _strictness_type strictness;
      enum { BEST_EFFORT = 1 };
      enum { STRICT = 2 };

    SwitchControllerRequest():
      start_controllers_length(0), start_controllers(NULL),
      stop_controllers_length(0), stop_controllers(NULL),
      strictness(0)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      *(outbuffer + offset + 0) = (this->start_controllers_length >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->start_controllers_length >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->start_controllers_length >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->start_controllers_length >> (8 * 3)) & 0xFF;
      offset += sizeof(this->start_controllers_length);
      for( uint32_t i = 0; i < start_controllers_length; i++){
      uint32_t length_start_controllersi = strlen(this->start_controllers[i]);
      varToArr(outbuffer + offset, length_start_controllersi);
      offset += 4;
      memcpy(outbuffer + offset, this->start_controllers[i], length_start_controllersi);
      offset += length_start_controllersi;
      }
      *(outbuffer + offset + 0) = (this->stop_controllers_length >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->stop_controllers_length >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->stop_controllers_length >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->stop_controllers_length >> (8 * 3)) & 0xFF;
      offset += sizeof(this->stop_controllers_length);
      for( uint32_t i = 0; i < stop_controllers_length; i++){
      uint32_t length_stop_controllersi = strlen(this->stop_controllers[i]);
      varToArr(outbuffer + offset, length_stop_controllersi);
      offset += 4;
      memcpy(outbuffer + offset, this->stop_controllers[i], length_stop_controllersi);
      offset += length_stop_controllersi;
      }
      union {
        int32_t real;
        uint32_t base;
      } u_strictness;
      u_strictness.real = this->strictness;
      *(outbuffer + offset + 0) = (u_strictness.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_strictness.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_strictness.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_strictness.base >> (8 * 3)) & 0xFF;
      offset += sizeof(this->strictness);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t start_controllers_lengthT = ((uint32_t) (*(inbuffer + offset))); 
      start_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
      start_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
      start_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
      offset += sizeof(this->start_controllers_length);
      if(start_controllers_lengthT > start_controllers_length)
        this->start_controllers = (char**)realloc(this->start_controllers, start_controllers_lengthT * sizeof(char*));
      start_controllers_length = start_controllers_lengthT;
      for( uint32_t i = 0; i < start_controllers_length; i++){
      uint32_t length_st_start_controllers;
      arrToVar(length_st_start_controllers, (inbuffer + offset));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_st_start_controllers; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_st_start_controllers-1]=0;
      this->st_start_controllers = (char *)(inbuffer + offset-1);
      offset += length_st_start_controllers;
        memcpy( &(this->start_controllers[i]), &(this->st_start_controllers), sizeof(char*));
      }
      uint32_t stop_controllers_lengthT = ((uint32_t) (*(inbuffer + offset))); 
      stop_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
      stop_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
      stop_controllers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
      offset += sizeof(this->stop_controllers_length);
      if(stop_controllers_lengthT > stop_controllers_length)
        this->stop_controllers = (char**)realloc(this->stop_controllers, stop_controllers_lengthT * sizeof(char*));
      stop_controllers_length = stop_controllers_lengthT;
      for( uint32_t i = 0; i < stop_controllers_length; i++){
      uint32_t length_st_stop_controllers;
      arrToVar(length_st_stop_controllers, (inbuffer + offset));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_st_stop_controllers; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_st_stop_controllers-1]=0;
      this->st_stop_controllers = (char *)(inbuffer + offset-1);
      offset += length_st_stop_controllers;
        memcpy( &(this->stop_controllers[i]), &(this->st_stop_controllers), sizeof(char*));
      }
      union {
        int32_t real;
        uint32_t base;
      } u_strictness;
      u_strictness.base = 0;
      u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_strictness.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      this->strictness = u_strictness.real;
      offset += sizeof(this->strictness);
     return offset;
    }

    const char * getType(){ return SWITCHCONTROLLER; };
    const char * getMD5(){ return "434da54adc434a5af5743ed711fd6ba1"; };

  };

  class SwitchControllerResponse : public ros::Msg
  {
    public:
      typedef bool _ok_type;
      _ok_type ok;

    SwitchControllerResponse():
      ok(0)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      union {
        bool real;
        uint8_t base;
      } u_ok;
      u_ok.real = this->ok;
      *(outbuffer + offset + 0) = (u_ok.base >> (8 * 0)) & 0xFF;
      offset += sizeof(this->ok);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      union {
        bool real;
        uint8_t base;
      } u_ok;
      u_ok.base = 0;
      u_ok.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
      this->ok = u_ok.real;
      offset += sizeof(this->ok);
     return offset;
    }

    const char * getType(){ return SWITCHCONTROLLER; };
    const char * getMD5(){ return "6f6da3883749771fac40d6deb24a8c02"; };

  };

  class SwitchController {
    public:
    typedef SwitchControllerRequest Request;
    typedef SwitchControllerResponse Response;
  };

}
#endif