fan yang
using ros serial to publish joint angles
Dependencies: mbed ros_lib_indigo
Revision 0:6370e1a55ca5, committed 2017-09-26
- Comitter:
- robot_fan4
- Date:
- Tue Sep 26 10:39:00 2017 +0000
- Commit message:
- rosserial;
Changed in this revision
diff -r 000000000000 -r 6370e1a55ca5 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Sep 26 10:39:00 2017 +0000
@@ -0,0 +1,91 @@
+///*
+// * rosserial ADC Example
+// *
+// * This is a poor man's Oscilloscope. It does not have the sampling
+// * rate or accuracy of a commerical scope, but it is great to get
+// * an analog value into ROS in a pinch.
+// */
+//
+//#include "mbed.h"
+//#include <ros.h>
+//#include <geometry_msgs/Vector3Stamped.h>
+//#include <ros/time.h>
+//
+////AnalogIn analog_value1(A0);
+////AnalogIn analog_value2(A1);
+////AnalogIn analog_value3(A2);
+//DigitalOut led(LED1);
+//
+//ros::NodeHandle nh;
+//
+//geometry_msgs::Vector3Stamped joint_angle;
+//
+//ros::Publisher p("adc", &joint_angle);
+//
+//
+////We average the analog reading to elminate some of the noise
+//int averageAnalog(PinName pin) {
+// int v=0;
+// for (int i=0; i<4; i++) v+= AnalogIn(pin).read_u16();
+// return v/4;
+//}
+//
+//int main() {
+// nh.initNode();
+// nh.advertise(p);
+//
+// while (1) {
+// joint_angle.vector.x= averageAnalog(A0);
+// joint_angle.vector.y= averageAnalog(A1);
+// joint_angle.vector.z= averageAnalog(A2);
+// joint_angle.header.stamp = nh.now();
+// p.publish(&joint_angle);
+// nh.spinOnce();
+// wait_ms(10);
+// }
+//}
+
+/*
+ * rosserial ADC Example
+ *
+ * This is a poor man's Oscilloscope. It does not have the sampling
+ * rate or accuracy of a commerical scope, but it is great to get
+ * an analog value into ROS in a pinch.
+ */
+
+#include "mbed.h"
+#include <ros.h>
+#include <std_msgs/Float64.h>
+#include <ros/time.h>
+
+//AnalogIn analog_value1(A0);
+//AnalogIn analog_value2(A1);
+//AnalogIn analog_value3(A2);
+DigitalOut led(LED1);
+
+ros::NodeHandle nh;
+
+std_msgs::Float64 feedback;
+
+ros::Publisher p("state", &feedback);
+
+
+//We average the analog reading to elminate some of the noise
+int averageAnalog(PinName pin) {
+ int v=0;
+ for (int i=0; i<4; i++) v+= AnalogIn(pin).read();
+ return v*2000/4-1000;
+}
+
+int main() {
+ nh.initNode();
+ nh.advertise(p);
+
+ while (1) {
+ feedback.data = averageAnalog(A0);
+ p.publish(&feedback);
+ nh.spinOnce();
+ wait_ms(10);
+ }
+}
+
diff -r 000000000000 -r 6370e1a55ca5 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Sep 26 10:39:00 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/675da3299148 \ No newline at end of file
diff -r 000000000000 -r 6370e1a55ca5 ros_lib_indigo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ros_lib_indigo.lib Tue Sep 26 10:39:00 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/garyservin/code/ros_lib_indigo/#fd24f7ca9688