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/SmachContainerStructure.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_SmachContainerStructure_h #define _ROS_smach_msgs_SmachContainerStructure_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" namespace smach_msgs { class SmachContainerStructure : public ros::Msg { public: typedef std_msgs::Header _header_type; _header_type header; typedef const char* _path_type; _path_type path; uint32_t children_length; typedef char* _children_type; _children_type st_children; _children_type * children; uint32_t internal_outcomes_length; typedef char* _internal_outcomes_type; _internal_outcomes_type st_internal_outcomes; _internal_outcomes_type * internal_outcomes; uint32_t outcomes_from_length; typedef char* _outcomes_from_type; _outcomes_from_type st_outcomes_from; _outcomes_from_type * outcomes_from; uint32_t outcomes_to_length; typedef char* _outcomes_to_type; _outcomes_to_type st_outcomes_to; _outcomes_to_type * outcomes_to; uint32_t container_outcomes_length; typedef char* _container_outcomes_type; _container_outcomes_type st_container_outcomes; _container_outcomes_type * container_outcomes; SmachContainerStructure(): header(), path(""), children_length(0), children(NULL), internal_outcomes_length(0), internal_outcomes(NULL), outcomes_from_length(0), outcomes_from(NULL), outcomes_to_length(0), outcomes_to(NULL), container_outcomes_length(0), container_outcomes(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); 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->children_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->children_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->children_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->children_length >> (8 * 3)) & 0xFF; offset += sizeof(this->children_length); for( uint32_t i = 0; i < children_length; i++){ uint32_t length_childreni = strlen(this->children[i]); varToArr(outbuffer + offset, length_childreni); offset += 4; memcpy(outbuffer + offset, this->children[i], length_childreni); offset += length_childreni; } *(outbuffer + offset + 0) = (this->internal_outcomes_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->internal_outcomes_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->internal_outcomes_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->internal_outcomes_length >> (8 * 3)) & 0xFF; offset += sizeof(this->internal_outcomes_length); for( uint32_t i = 0; i < internal_outcomes_length; i++){ uint32_t length_internal_outcomesi = strlen(this->internal_outcomes[i]); varToArr(outbuffer + offset, length_internal_outcomesi); offset += 4; memcpy(outbuffer + offset, this->internal_outcomes[i], length_internal_outcomesi); offset += length_internal_outcomesi; } *(outbuffer + offset + 0) = (this->outcomes_from_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->outcomes_from_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->outcomes_from_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->outcomes_from_length >> (8 * 3)) & 0xFF; offset += sizeof(this->outcomes_from_length); for( uint32_t i = 0; i < outcomes_from_length; i++){ uint32_t length_outcomes_fromi = strlen(this->outcomes_from[i]); varToArr(outbuffer + offset, length_outcomes_fromi); offset += 4; memcpy(outbuffer + offset, this->outcomes_from[i], length_outcomes_fromi); offset += length_outcomes_fromi; } *(outbuffer + offset + 0) = (this->outcomes_to_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->outcomes_to_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->outcomes_to_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->outcomes_to_length >> (8 * 3)) & 0xFF; offset += sizeof(this->outcomes_to_length); for( uint32_t i = 0; i < outcomes_to_length; i++){ uint32_t length_outcomes_toi = strlen(this->outcomes_to[i]); varToArr(outbuffer + offset, length_outcomes_toi); offset += 4; memcpy(outbuffer + offset, this->outcomes_to[i], length_outcomes_toi); offset += length_outcomes_toi; } *(outbuffer + offset + 0) = (this->container_outcomes_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->container_outcomes_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->container_outcomes_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->container_outcomes_length >> (8 * 3)) & 0xFF; offset += sizeof(this->container_outcomes_length); for( uint32_t i = 0; i < container_outcomes_length; i++){ uint32_t length_container_outcomesi = strlen(this->container_outcomes[i]); varToArr(outbuffer + offset, length_container_outcomesi); offset += 4; memcpy(outbuffer + offset, this->container_outcomes[i], length_container_outcomesi); offset += length_container_outcomesi; } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); 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 children_lengthT = ((uint32_t) (*(inbuffer + offset))); children_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); children_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); children_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->children_length); if(children_lengthT > children_length) this->children = (char**)realloc(this->children, children_lengthT * sizeof(char*)); children_length = children_lengthT; for( uint32_t i = 0; i < children_length; i++){ uint32_t length_st_children; arrToVar(length_st_children, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_st_children; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_children-1]=0; this->st_children = (char *)(inbuffer + offset-1); offset += length_st_children; memcpy( &(this->children[i]), &(this->st_children), sizeof(char*)); } uint32_t internal_outcomes_lengthT = ((uint32_t) (*(inbuffer + offset))); internal_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); internal_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); internal_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->internal_outcomes_length); if(internal_outcomes_lengthT > internal_outcomes_length) this->internal_outcomes = (char**)realloc(this->internal_outcomes, internal_outcomes_lengthT * sizeof(char*)); internal_outcomes_length = internal_outcomes_lengthT; for( uint32_t i = 0; i < internal_outcomes_length; i++){ uint32_t length_st_internal_outcomes; arrToVar(length_st_internal_outcomes, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_st_internal_outcomes; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_internal_outcomes-1]=0; this->st_internal_outcomes = (char *)(inbuffer + offset-1); offset += length_st_internal_outcomes; memcpy( &(this->internal_outcomes[i]), &(this->st_internal_outcomes), sizeof(char*)); } uint32_t outcomes_from_lengthT = ((uint32_t) (*(inbuffer + offset))); outcomes_from_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); outcomes_from_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); outcomes_from_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->outcomes_from_length); if(outcomes_from_lengthT > outcomes_from_length) this->outcomes_from = (char**)realloc(this->outcomes_from, outcomes_from_lengthT * sizeof(char*)); outcomes_from_length = outcomes_from_lengthT; for( uint32_t i = 0; i < outcomes_from_length; i++){ uint32_t length_st_outcomes_from; arrToVar(length_st_outcomes_from, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_st_outcomes_from; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_outcomes_from-1]=0; this->st_outcomes_from = (char *)(inbuffer + offset-1); offset += length_st_outcomes_from; memcpy( &(this->outcomes_from[i]), &(this->st_outcomes_from), sizeof(char*)); } uint32_t outcomes_to_lengthT = ((uint32_t) (*(inbuffer + offset))); outcomes_to_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); outcomes_to_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); outcomes_to_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->outcomes_to_length); if(outcomes_to_lengthT > outcomes_to_length) this->outcomes_to = (char**)realloc(this->outcomes_to, outcomes_to_lengthT * sizeof(char*)); outcomes_to_length = outcomes_to_lengthT; for( uint32_t i = 0; i < outcomes_to_length; i++){ uint32_t length_st_outcomes_to; arrToVar(length_st_outcomes_to, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_st_outcomes_to; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_outcomes_to-1]=0; this->st_outcomes_to = (char *)(inbuffer + offset-1); offset += length_st_outcomes_to; memcpy( &(this->outcomes_to[i]), &(this->st_outcomes_to), sizeof(char*)); } uint32_t container_outcomes_lengthT = ((uint32_t) (*(inbuffer + offset))); container_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); container_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); container_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->container_outcomes_length); if(container_outcomes_lengthT > container_outcomes_length) this->container_outcomes = (char**)realloc(this->container_outcomes, container_outcomes_lengthT * sizeof(char*)); container_outcomes_length = container_outcomes_lengthT; for( uint32_t i = 0; i < container_outcomes_length; i++){ uint32_t length_st_container_outcomes; arrToVar(length_st_container_outcomes, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_st_container_outcomes; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_container_outcomes-1]=0; this->st_container_outcomes = (char *)(inbuffer + offset-1); offset += length_st_container_outcomes; memcpy( &(this->container_outcomes[i]), &(this->st_container_outcomes), sizeof(char*)); } return offset; } const char * getType(){ return "smach_msgs/SmachContainerStructure"; }; const char * getMD5(){ return "3d3d1e0d0f99779ee9e58101a5dcf7ea"; }; }; } #endif