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(); } }
time.cpp@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 | * Software License Agreement (BSD License) |
Gary Servin |
0:04ac6be8229a | 3 | * |
Gary Servin |
0:04ac6be8229a | 4 | * Copyright (c) 2011, Willow Garage, Inc. |
Gary Servin |
0:04ac6be8229a | 5 | * All rights reserved. |
Gary Servin |
0:04ac6be8229a | 6 | * |
Gary Servin |
0:04ac6be8229a | 7 | * Redistribution and use in source and binary forms, with or without |
Gary Servin |
0:04ac6be8229a | 8 | * modification, are permitted provided that the following conditions |
Gary Servin |
0:04ac6be8229a | 9 | * are met: |
Gary Servin |
0:04ac6be8229a | 10 | * |
Gary Servin |
0:04ac6be8229a | 11 | * * Redistributions of source code must retain the above copyright |
Gary Servin |
0:04ac6be8229a | 12 | * notice, this list of conditions and the following disclaimer. |
Gary Servin |
0:04ac6be8229a | 13 | * * Redistributions in binary form must reproduce the above |
Gary Servin |
0:04ac6be8229a | 14 | * copyright notice, this list of conditions and the following |
Gary Servin |
0:04ac6be8229a | 15 | * disclaimer in the documentation and/or other materials provided |
Gary Servin |
0:04ac6be8229a | 16 | * with the distribution. |
Gary Servin |
0:04ac6be8229a | 17 | * * Neither the name of Willow Garage, Inc. nor the names of its |
Gary Servin |
0:04ac6be8229a | 18 | * contributors may be used to endorse or promote prducts derived |
Gary Servin |
0:04ac6be8229a | 19 | * from this software without specific prior written permission. |
Gary Servin |
0:04ac6be8229a | 20 | * |
Gary Servin |
0:04ac6be8229a | 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
Gary Servin |
0:04ac6be8229a | 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
Gary Servin |
0:04ac6be8229a | 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
Gary Servin |
0:04ac6be8229a | 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
Gary Servin |
0:04ac6be8229a | 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
Gary Servin |
0:04ac6be8229a | 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
Gary Servin |
0:04ac6be8229a | 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
Gary Servin |
0:04ac6be8229a | 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
Gary Servin |
0:04ac6be8229a | 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
Gary Servin |
0:04ac6be8229a | 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
Gary Servin |
0:04ac6be8229a | 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
Gary Servin |
0:04ac6be8229a | 32 | * POSSIBILITY OF SUCH DAMAGE. |
Gary Servin |
0:04ac6be8229a | 33 | */ |
Gary Servin |
0:04ac6be8229a | 34 | |
Gary Servin |
0:04ac6be8229a | 35 | #include "ros/time.h" |
Gary Servin |
0:04ac6be8229a | 36 | |
Gary Servin |
0:04ac6be8229a | 37 | namespace ros |
Gary Servin |
0:04ac6be8229a | 38 | { |
Gary Servin |
0:04ac6be8229a | 39 | void normalizeSecNSec(uint32_t& sec, uint32_t& nsec) |
Gary Servin |
0:04ac6be8229a | 40 | { |
Gary Servin |
0:04ac6be8229a | 41 | uint32_t nsec_part = nsec % 1000000000UL; |
Gary Servin |
0:04ac6be8229a | 42 | uint32_t sec_part = nsec / 1000000000UL; |
Gary Servin |
0:04ac6be8229a | 43 | sec += sec_part; |
Gary Servin |
0:04ac6be8229a | 44 | nsec = nsec_part; |
Gary Servin |
0:04ac6be8229a | 45 | } |
Gary Servin |
0:04ac6be8229a | 46 | |
Gary Servin |
0:04ac6be8229a | 47 | Time& Time::fromNSec(int32_t t) |
Gary Servin |
0:04ac6be8229a | 48 | { |
Gary Servin |
0:04ac6be8229a | 49 | sec = t / 1000000000; |
Gary Servin |
0:04ac6be8229a | 50 | nsec = t % 1000000000; |
Gary Servin |
0:04ac6be8229a | 51 | normalizeSecNSec(sec, nsec); |
Gary Servin |
0:04ac6be8229a | 52 | return *this; |
Gary Servin |
0:04ac6be8229a | 53 | } |
Gary Servin |
0:04ac6be8229a | 54 | |
Gary Servin |
0:04ac6be8229a | 55 | Time& Time::operator +=(const Duration &rhs) |
Gary Servin |
0:04ac6be8229a | 56 | { |
Gary Servin |
0:04ac6be8229a | 57 | sec += rhs.sec; |
Gary Servin |
0:04ac6be8229a | 58 | nsec += rhs.nsec; |
Gary Servin |
0:04ac6be8229a | 59 | normalizeSecNSec(sec, nsec); |
Gary Servin |
0:04ac6be8229a | 60 | return *this; |
Gary Servin |
0:04ac6be8229a | 61 | } |
Gary Servin |
0:04ac6be8229a | 62 | |
Gary Servin |
0:04ac6be8229a | 63 | Time& Time::operator -=(const Duration &rhs) |
Gary Servin |
0:04ac6be8229a | 64 | { |
Gary Servin |
0:04ac6be8229a | 65 | sec += -rhs.sec; |
Gary Servin |
0:04ac6be8229a | 66 | nsec += -rhs.nsec; |
Gary Servin |
0:04ac6be8229a | 67 | normalizeSecNSec(sec, nsec); |
Gary Servin |
0:04ac6be8229a | 68 | return *this; |
Gary Servin |
0:04ac6be8229a | 69 | } |
Gary Servin |
0:04ac6be8229a | 70 | } |