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(); } }
nodelet/NodeletUnload.h@1:da82487f547e, 2019-11-08 (annotated)
- Committer:
- Gary Servin
- Date:
- Fri Nov 08 14:55:04 2019 -0300
- Revision:
- 1:da82487f547e
- Parent:
- 0:04ac6be8229a
Add missing round() method
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gary Servin |
0:04ac6be8229a | 1 | #ifndef _ROS_SERVICE_NodeletUnload_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_SERVICE_NodeletUnload_h |
Gary Servin |
0:04ac6be8229a | 3 | #include <stdint.h> |
Gary Servin |
0:04ac6be8229a | 4 | #include <string.h> |
Gary Servin |
0:04ac6be8229a | 5 | #include <stdlib.h> |
Gary Servin |
0:04ac6be8229a | 6 | #include "ros/msg.h" |
Gary Servin |
0:04ac6be8229a | 7 | |
Gary Servin |
0:04ac6be8229a | 8 | namespace nodelet |
Gary Servin |
0:04ac6be8229a | 9 | { |
Gary Servin |
0:04ac6be8229a | 10 | |
Gary Servin |
0:04ac6be8229a | 11 | static const char NODELETUNLOAD[] = "nodelet/NodeletUnload"; |
Gary Servin |
0:04ac6be8229a | 12 | |
Gary Servin |
0:04ac6be8229a | 13 | class NodeletUnloadRequest : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 14 | { |
Gary Servin |
0:04ac6be8229a | 15 | public: |
Gary Servin |
0:04ac6be8229a | 16 | typedef const char* _name_type; |
Gary Servin |
0:04ac6be8229a | 17 | _name_type name; |
Gary Servin |
0:04ac6be8229a | 18 | |
Gary Servin |
0:04ac6be8229a | 19 | NodeletUnloadRequest(): |
Gary Servin |
0:04ac6be8229a | 20 | name("") |
Gary Servin |
0:04ac6be8229a | 21 | { |
Gary Servin |
0:04ac6be8229a | 22 | } |
Gary Servin |
0:04ac6be8229a | 23 | |
Gary Servin |
0:04ac6be8229a | 24 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 25 | { |
Gary Servin |
0:04ac6be8229a | 26 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 27 | uint32_t length_name = strlen(this->name); |
Gary Servin |
0:04ac6be8229a | 28 | varToArr(outbuffer + offset, length_name); |
Gary Servin |
0:04ac6be8229a | 29 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 30 | memcpy(outbuffer + offset, this->name, length_name); |
Gary Servin |
0:04ac6be8229a | 31 | offset += length_name; |
Gary Servin |
0:04ac6be8229a | 32 | return offset; |
Gary Servin |
0:04ac6be8229a | 33 | } |
Gary Servin |
0:04ac6be8229a | 34 | |
Gary Servin |
0:04ac6be8229a | 35 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 36 | { |
Gary Servin |
0:04ac6be8229a | 37 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 38 | uint32_t length_name; |
Gary Servin |
0:04ac6be8229a | 39 | arrToVar(length_name, (inbuffer + offset)); |
Gary Servin |
0:04ac6be8229a | 40 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 41 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
Gary Servin |
0:04ac6be8229a | 42 | inbuffer[k-1]=inbuffer[k]; |
Gary Servin |
0:04ac6be8229a | 43 | } |
Gary Servin |
0:04ac6be8229a | 44 | inbuffer[offset+length_name-1]=0; |
Gary Servin |
0:04ac6be8229a | 45 | this->name = (char *)(inbuffer + offset-1); |
Gary Servin |
0:04ac6be8229a | 46 | offset += length_name; |
Gary Servin |
0:04ac6be8229a | 47 | return offset; |
Gary Servin |
0:04ac6be8229a | 48 | } |
Gary Servin |
0:04ac6be8229a | 49 | |
Gary Servin |
0:04ac6be8229a | 50 | const char * getType(){ return NODELETUNLOAD; }; |
Gary Servin |
0:04ac6be8229a | 51 | const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; }; |
Gary Servin |
0:04ac6be8229a | 52 | |
Gary Servin |
0:04ac6be8229a | 53 | }; |
Gary Servin |
0:04ac6be8229a | 54 | |
Gary Servin |
0:04ac6be8229a | 55 | class NodeletUnloadResponse : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 56 | { |
Gary Servin |
0:04ac6be8229a | 57 | public: |
Gary Servin |
0:04ac6be8229a | 58 | typedef bool _success_type; |
Gary Servin |
0:04ac6be8229a | 59 | _success_type success; |
Gary Servin |
0:04ac6be8229a | 60 | |
Gary Servin |
0:04ac6be8229a | 61 | NodeletUnloadResponse(): |
Gary Servin |
0:04ac6be8229a | 62 | success(0) |
Gary Servin |
0:04ac6be8229a | 63 | { |
Gary Servin |
0:04ac6be8229a | 64 | } |
Gary Servin |
0:04ac6be8229a | 65 | |
Gary Servin |
0:04ac6be8229a | 66 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 67 | { |
Gary Servin |
0:04ac6be8229a | 68 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 69 | union { |
Gary Servin |
0:04ac6be8229a | 70 | bool real; |
Gary Servin |
0:04ac6be8229a | 71 | uint8_t base; |
Gary Servin |
0:04ac6be8229a | 72 | } u_success; |
Gary Servin |
0:04ac6be8229a | 73 | u_success.real = this->success; |
Gary Servin |
0:04ac6be8229a | 74 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 75 | offset += sizeof(this->success); |
Gary Servin |
0:04ac6be8229a | 76 | return offset; |
Gary Servin |
0:04ac6be8229a | 77 | } |
Gary Servin |
0:04ac6be8229a | 78 | |
Gary Servin |
0:04ac6be8229a | 79 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 80 | { |
Gary Servin |
0:04ac6be8229a | 81 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 82 | union { |
Gary Servin |
0:04ac6be8229a | 83 | bool real; |
Gary Servin |
0:04ac6be8229a | 84 | uint8_t base; |
Gary Servin |
0:04ac6be8229a | 85 | } u_success; |
Gary Servin |
0:04ac6be8229a | 86 | u_success.base = 0; |
Gary Servin |
0:04ac6be8229a | 87 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 88 | this->success = u_success.real; |
Gary Servin |
0:04ac6be8229a | 89 | offset += sizeof(this->success); |
Gary Servin |
0:04ac6be8229a | 90 | return offset; |
Gary Servin |
0:04ac6be8229a | 91 | } |
Gary Servin |
0:04ac6be8229a | 92 | |
Gary Servin |
0:04ac6be8229a | 93 | const char * getType(){ return NODELETUNLOAD; }; |
Gary Servin |
0:04ac6be8229a | 94 | const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; }; |
Gary Servin |
0:04ac6be8229a | 95 | |
Gary Servin |
0:04ac6be8229a | 96 | }; |
Gary Servin |
0:04ac6be8229a | 97 | |
Gary Servin |
0:04ac6be8229a | 98 | class NodeletUnload { |
Gary Servin |
0:04ac6be8229a | 99 | public: |
Gary Servin |
0:04ac6be8229a | 100 | typedef NodeletUnloadRequest Request; |
Gary Servin |
0:04ac6be8229a | 101 | typedef NodeletUnloadResponse Response; |
Gary Servin |
0:04ac6be8229a | 102 | }; |
Gary Servin |
0:04ac6be8229a | 103 | |
Gary Servin |
0:04ac6be8229a | 104 | } |
Gary Servin |
0:04ac6be8229a | 105 | #endif |