ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information
Dependents: rosserial_mbed_hello_world_publisher rtos_base_control rosserial_mbed_F64MA ROS-RTOS ... more
ROSSerial_mbed for Indigo 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
rosserial_mbed Hello World
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(); } }
diagnostic_msgs/DiagnosticStatus.h@0:fd24f7ca9688, 2016-03-31 (annotated)
- Committer:
- garyservin
- Date:
- Thu Mar 31 14:22:59 2016 +0000
- Revision:
- 0:fd24f7ca9688
Initial commit, generated based on a clean indigo-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:fd24f7ca9688 | 1 | #ifndef _ROS_diagnostic_msgs_DiagnosticStatus_h |
garyservin | 0:fd24f7ca9688 | 2 | #define _ROS_diagnostic_msgs_DiagnosticStatus_h |
garyservin | 0:fd24f7ca9688 | 3 | |
garyservin | 0:fd24f7ca9688 | 4 | #include <stdint.h> |
garyservin | 0:fd24f7ca9688 | 5 | #include <string.h> |
garyservin | 0:fd24f7ca9688 | 6 | #include <stdlib.h> |
garyservin | 0:fd24f7ca9688 | 7 | #include "ros/msg.h" |
garyservin | 0:fd24f7ca9688 | 8 | #include "diagnostic_msgs/KeyValue.h" |
garyservin | 0:fd24f7ca9688 | 9 | |
garyservin | 0:fd24f7ca9688 | 10 | namespace diagnostic_msgs |
garyservin | 0:fd24f7ca9688 | 11 | { |
garyservin | 0:fd24f7ca9688 | 12 | |
garyservin | 0:fd24f7ca9688 | 13 | class DiagnosticStatus : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 14 | { |
garyservin | 0:fd24f7ca9688 | 15 | public: |
garyservin | 0:fd24f7ca9688 | 16 | int8_t level; |
garyservin | 0:fd24f7ca9688 | 17 | const char* name; |
garyservin | 0:fd24f7ca9688 | 18 | const char* message; |
garyservin | 0:fd24f7ca9688 | 19 | const char* hardware_id; |
garyservin | 0:fd24f7ca9688 | 20 | uint8_t values_length; |
garyservin | 0:fd24f7ca9688 | 21 | diagnostic_msgs::KeyValue st_values; |
garyservin | 0:fd24f7ca9688 | 22 | diagnostic_msgs::KeyValue * values; |
garyservin | 0:fd24f7ca9688 | 23 | enum { OK = 0 }; |
garyservin | 0:fd24f7ca9688 | 24 | enum { WARN = 1 }; |
garyservin | 0:fd24f7ca9688 | 25 | enum { ERROR = 2 }; |
garyservin | 0:fd24f7ca9688 | 26 | enum { STALE = 3 }; |
garyservin | 0:fd24f7ca9688 | 27 | |
garyservin | 0:fd24f7ca9688 | 28 | DiagnosticStatus(): |
garyservin | 0:fd24f7ca9688 | 29 | level(0), |
garyservin | 0:fd24f7ca9688 | 30 | name(""), |
garyservin | 0:fd24f7ca9688 | 31 | message(""), |
garyservin | 0:fd24f7ca9688 | 32 | hardware_id(""), |
garyservin | 0:fd24f7ca9688 | 33 | values_length(0), values(NULL) |
garyservin | 0:fd24f7ca9688 | 34 | { |
garyservin | 0:fd24f7ca9688 | 35 | } |
garyservin | 0:fd24f7ca9688 | 36 | |
garyservin | 0:fd24f7ca9688 | 37 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:fd24f7ca9688 | 38 | { |
garyservin | 0:fd24f7ca9688 | 39 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 40 | union { |
garyservin | 0:fd24f7ca9688 | 41 | int8_t real; |
garyservin | 0:fd24f7ca9688 | 42 | uint8_t base; |
garyservin | 0:fd24f7ca9688 | 43 | } u_level; |
garyservin | 0:fd24f7ca9688 | 44 | u_level.real = this->level; |
garyservin | 0:fd24f7ca9688 | 45 | *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 46 | offset += sizeof(this->level); |
garyservin | 0:fd24f7ca9688 | 47 | uint32_t length_name = strlen(this->name); |
garyservin | 0:fd24f7ca9688 | 48 | memcpy(outbuffer + offset, &length_name, sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 49 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 50 | memcpy(outbuffer + offset, this->name, length_name); |
garyservin | 0:fd24f7ca9688 | 51 | offset += length_name; |
garyservin | 0:fd24f7ca9688 | 52 | uint32_t length_message = strlen(this->message); |
garyservin | 0:fd24f7ca9688 | 53 | memcpy(outbuffer + offset, &length_message, sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 54 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 55 | memcpy(outbuffer + offset, this->message, length_message); |
garyservin | 0:fd24f7ca9688 | 56 | offset += length_message; |
garyservin | 0:fd24f7ca9688 | 57 | uint32_t length_hardware_id = strlen(this->hardware_id); |
garyservin | 0:fd24f7ca9688 | 58 | memcpy(outbuffer + offset, &length_hardware_id, sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 59 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 60 | memcpy(outbuffer + offset, this->hardware_id, length_hardware_id); |
garyservin | 0:fd24f7ca9688 | 61 | offset += length_hardware_id; |
garyservin | 0:fd24f7ca9688 | 62 | *(outbuffer + offset++) = values_length; |
garyservin | 0:fd24f7ca9688 | 63 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 64 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 65 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 66 | for( uint8_t i = 0; i < values_length; i++){ |
garyservin | 0:fd24f7ca9688 | 67 | offset += this->values[i].serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 68 | } |
garyservin | 0:fd24f7ca9688 | 69 | return offset; |
garyservin | 0:fd24f7ca9688 | 70 | } |
garyservin | 0:fd24f7ca9688 | 71 | |
garyservin | 0:fd24f7ca9688 | 72 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:fd24f7ca9688 | 73 | { |
garyservin | 0:fd24f7ca9688 | 74 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 75 | union { |
garyservin | 0:fd24f7ca9688 | 76 | int8_t real; |
garyservin | 0:fd24f7ca9688 | 77 | uint8_t base; |
garyservin | 0:fd24f7ca9688 | 78 | } u_level; |
garyservin | 0:fd24f7ca9688 | 79 | u_level.base = 0; |
garyservin | 0:fd24f7ca9688 | 80 | u_level.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 81 | this->level = u_level.real; |
garyservin | 0:fd24f7ca9688 | 82 | offset += sizeof(this->level); |
garyservin | 0:fd24f7ca9688 | 83 | uint32_t length_name; |
garyservin | 0:fd24f7ca9688 | 84 | memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 85 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 86 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
garyservin | 0:fd24f7ca9688 | 87 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:fd24f7ca9688 | 88 | } |
garyservin | 0:fd24f7ca9688 | 89 | inbuffer[offset+length_name-1]=0; |
garyservin | 0:fd24f7ca9688 | 90 | this->name = (char *)(inbuffer + offset-1); |
garyservin | 0:fd24f7ca9688 | 91 | offset += length_name; |
garyservin | 0:fd24f7ca9688 | 92 | uint32_t length_message; |
garyservin | 0:fd24f7ca9688 | 93 | memcpy(&length_message, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 94 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 95 | for(unsigned int k= offset; k< offset+length_message; ++k){ |
garyservin | 0:fd24f7ca9688 | 96 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:fd24f7ca9688 | 97 | } |
garyservin | 0:fd24f7ca9688 | 98 | inbuffer[offset+length_message-1]=0; |
garyservin | 0:fd24f7ca9688 | 99 | this->message = (char *)(inbuffer + offset-1); |
garyservin | 0:fd24f7ca9688 | 100 | offset += length_message; |
garyservin | 0:fd24f7ca9688 | 101 | uint32_t length_hardware_id; |
garyservin | 0:fd24f7ca9688 | 102 | memcpy(&length_hardware_id, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 103 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 104 | for(unsigned int k= offset; k< offset+length_hardware_id; ++k){ |
garyservin | 0:fd24f7ca9688 | 105 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:fd24f7ca9688 | 106 | } |
garyservin | 0:fd24f7ca9688 | 107 | inbuffer[offset+length_hardware_id-1]=0; |
garyservin | 0:fd24f7ca9688 | 108 | this->hardware_id = (char *)(inbuffer + offset-1); |
garyservin | 0:fd24f7ca9688 | 109 | offset += length_hardware_id; |
garyservin | 0:fd24f7ca9688 | 110 | uint8_t values_lengthT = *(inbuffer + offset++); |
garyservin | 0:fd24f7ca9688 | 111 | if(values_lengthT > values_length) |
garyservin | 0:fd24f7ca9688 | 112 | this->values = (diagnostic_msgs::KeyValue*)realloc(this->values, values_lengthT * sizeof(diagnostic_msgs::KeyValue)); |
garyservin | 0:fd24f7ca9688 | 113 | offset += 3; |
garyservin | 0:fd24f7ca9688 | 114 | values_length = values_lengthT; |
garyservin | 0:fd24f7ca9688 | 115 | for( uint8_t i = 0; i < values_length; i++){ |
garyservin | 0:fd24f7ca9688 | 116 | offset += this->st_values.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 117 | memcpy( &(this->values[i]), &(this->st_values), sizeof(diagnostic_msgs::KeyValue)); |
garyservin | 0:fd24f7ca9688 | 118 | } |
garyservin | 0:fd24f7ca9688 | 119 | return offset; |
garyservin | 0:fd24f7ca9688 | 120 | } |
garyservin | 0:fd24f7ca9688 | 121 | |
garyservin | 0:fd24f7ca9688 | 122 | const char * getType(){ return "diagnostic_msgs/DiagnosticStatus"; }; |
garyservin | 0:fd24f7ca9688 | 123 | const char * getMD5(){ return "d0ce08bc6e5ba34c7754f563a9cabaf1"; }; |
garyservin | 0:fd24f7ca9688 | 124 | |
garyservin | 0:fd24f7ca9688 | 125 | }; |
garyservin | 0:fd24f7ca9688 | 126 | |
garyservin | 0:fd24f7ca9688 | 127 | } |
garyservin | 0:fd24f7ca9688 | 128 | #endif |