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(); } }
MbedHardware.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 | /* |
Gary Servin |
0:04ac6be8229a | 2 | * MbedHardware |
Gary Servin |
0:04ac6be8229a | 3 | * |
Gary Servin |
0:04ac6be8229a | 4 | * Created on: Aug 17, 2011 |
Gary Servin |
0:04ac6be8229a | 5 | * Author: nucho |
Gary Servin |
0:04ac6be8229a | 6 | */ |
Gary Servin |
0:04ac6be8229a | 7 | |
Gary Servin |
0:04ac6be8229a | 8 | #ifndef ROS_MBED_HARDWARE_H_ |
Gary Servin |
0:04ac6be8229a | 9 | #define ROS_MBED_HARDWARE_H_ |
Gary Servin |
0:04ac6be8229a | 10 | |
Gary Servin |
0:04ac6be8229a | 11 | #include "mbed.h" |
Gary Servin |
0:04ac6be8229a | 12 | |
Gary Servin |
0:04ac6be8229a | 13 | #include "BufferedSerial.h" |
Gary Servin |
0:04ac6be8229a | 14 | |
Gary Servin |
0:04ac6be8229a | 15 | class MbedHardware { |
Gary Servin |
0:04ac6be8229a | 16 | public: |
Gary Servin |
0:04ac6be8229a | 17 | MbedHardware(PinName tx, PinName rx, long baud = 57600) |
Gary Servin |
0:04ac6be8229a | 18 | :iostream(tx, rx){ |
Gary Servin |
0:04ac6be8229a | 19 | baud_ = baud; |
Gary Servin |
0:04ac6be8229a | 20 | t.start(); |
Gary Servin |
0:04ac6be8229a | 21 | } |
Gary Servin |
0:04ac6be8229a | 22 | |
Gary Servin |
0:04ac6be8229a | 23 | MbedHardware() |
Gary Servin |
0:04ac6be8229a | 24 | :iostream(USBTX, USBRX) { |
Gary Servin |
0:04ac6be8229a | 25 | baud_ = 57600; |
Gary Servin |
0:04ac6be8229a | 26 | t.start(); |
Gary Servin |
0:04ac6be8229a | 27 | } |
Gary Servin |
0:04ac6be8229a | 28 | |
Gary Servin |
0:04ac6be8229a | 29 | void setBaud(long baud){ |
Gary Servin |
0:04ac6be8229a | 30 | this->baud_= baud; |
Gary Servin |
0:04ac6be8229a | 31 | } |
Gary Servin |
0:04ac6be8229a | 32 | |
Gary Servin |
0:04ac6be8229a | 33 | int getBaud(){return baud_;} |
Gary Servin |
0:04ac6be8229a | 34 | |
Gary Servin |
0:04ac6be8229a | 35 | void init(){ |
Gary Servin |
0:04ac6be8229a | 36 | iostream.baud(baud_); |
Gary Servin |
0:04ac6be8229a | 37 | } |
Gary Servin |
0:04ac6be8229a | 38 | |
Gary Servin |
0:04ac6be8229a | 39 | int read(){ |
Gary Servin |
0:04ac6be8229a | 40 | if (iostream.readable()) { |
Gary Servin |
0:04ac6be8229a | 41 | return iostream.getc(); |
Gary Servin |
0:04ac6be8229a | 42 | } else { |
Gary Servin |
0:04ac6be8229a | 43 | return -1; |
Gary Servin |
0:04ac6be8229a | 44 | } |
Gary Servin |
0:04ac6be8229a | 45 | }; |
Gary Servin |
0:04ac6be8229a | 46 | void write(uint8_t* data, int length) { |
Gary Servin |
0:04ac6be8229a | 47 | for (int i=0; i<length; i++) |
Gary Servin |
0:04ac6be8229a | 48 | iostream.putc(data[i]); |
Gary Servin |
0:04ac6be8229a | 49 | } |
Gary Servin |
0:04ac6be8229a | 50 | |
Gary Servin |
0:04ac6be8229a | 51 | unsigned long time(){return t.read_ms();} |
Gary Servin |
0:04ac6be8229a | 52 | |
Gary Servin |
0:04ac6be8229a | 53 | protected: |
Gary Servin |
0:04ac6be8229a | 54 | BufferedSerial iostream; |
Gary Servin |
0:04ac6be8229a | 55 | long baud_; |
Gary Servin |
0:04ac6be8229a | 56 | Timer t; |
Gary Servin |
0:04ac6be8229a | 57 | }; |
Gary Servin |
0:04ac6be8229a | 58 | |
Gary Servin |
0:04ac6be8229a | 59 | |
Gary Servin |
0:04ac6be8229a | 60 | #endif /* ROS_MBED_HARDWARE_H_ */ |