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(); } }
smach_msgs/SmachContainerInitialStatusCmd.h
- Committer:
- Gary Servin
- Date:
- 2019-11-08
- Revision:
- 1:da82487f547e
- Parent:
- 0:04ac6be8229a
File content as of revision 1:da82487f547e:
#ifndef _ROS_smach_msgs_SmachContainerInitialStatusCmd_h #define _ROS_smach_msgs_SmachContainerInitialStatusCmd_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace smach_msgs { class SmachContainerInitialStatusCmd : public ros::Msg { public: typedef const char* _path_type; _path_type path; uint32_t initial_states_length; typedef char* _initial_states_type; _initial_states_type st_initial_states; _initial_states_type * initial_states; typedef const char* _local_data_type; _local_data_type local_data; SmachContainerInitialStatusCmd(): path(""), initial_states_length(0), initial_states(NULL), local_data("") { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_path = strlen(this->path); varToArr(outbuffer + offset, length_path); offset += 4; memcpy(outbuffer + offset, this->path, length_path); offset += length_path; *(outbuffer + offset + 0) = (this->initial_states_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->initial_states_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->initial_states_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->initial_states_length >> (8 * 3)) & 0xFF; offset += sizeof(this->initial_states_length); for( uint32_t i = 0; i < initial_states_length; i++){ uint32_t length_initial_statesi = strlen(this->initial_states[i]); varToArr(outbuffer + offset, length_initial_statesi); offset += 4; memcpy(outbuffer + offset, this->initial_states[i], length_initial_statesi); offset += length_initial_statesi; } uint32_t length_local_data = strlen(this->local_data); varToArr(outbuffer + offset, length_local_data); offset += 4; memcpy(outbuffer + offset, this->local_data, length_local_data); offset += length_local_data; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_path; arrToVar(length_path, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_path; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_path-1]=0; this->path = (char *)(inbuffer + offset-1); offset += length_path; uint32_t initial_states_lengthT = ((uint32_t) (*(inbuffer + offset))); initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->initial_states_length); if(initial_states_lengthT > initial_states_length) this->initial_states = (char**)realloc(this->initial_states, initial_states_lengthT * sizeof(char*)); initial_states_length = initial_states_lengthT; for( uint32_t i = 0; i < initial_states_length; i++){ uint32_t length_st_initial_states; arrToVar(length_st_initial_states, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_st_initial_states; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_initial_states-1]=0; this->st_initial_states = (char *)(inbuffer + offset-1); offset += length_st_initial_states; memcpy( &(this->initial_states[i]), &(this->st_initial_states), sizeof(char*)); } uint32_t length_local_data; arrToVar(length_local_data, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_local_data; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_local_data-1]=0; this->local_data = (char *)(inbuffer + offset-1); offset += length_local_data; return offset; } const char * getType(){ return "smach_msgs/SmachContainerInitialStatusCmd"; }; const char * getMD5(){ return "45f8cf31fc29b829db77f23001f788d6"; }; }; } #endif