ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information

Dependencies:   BufferedSerial

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();
    }
}
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?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_SERVICE_AssembleScans2_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_AssembleScans2_h
garyservin 0:fd24f7ca9688 3 #include <stdint.h>
garyservin 0:fd24f7ca9688 4 #include <string.h>
garyservin 0:fd24f7ca9688 5 #include <stdlib.h>
garyservin 0:fd24f7ca9688 6 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 7 #include "sensor_msgs/PointCloud2.h"
garyservin 0:fd24f7ca9688 8 #include "ros/time.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace laser_assembler
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 static const char ASSEMBLESCANS2[] = "laser_assembler/AssembleScans2";
garyservin 0:fd24f7ca9688 14
garyservin 0:fd24f7ca9688 15 class AssembleScans2Request : public ros::Msg
garyservin 0:fd24f7ca9688 16 {
garyservin 0:fd24f7ca9688 17 public:
garyservin 0:fd24f7ca9688 18 ros::Time begin;
garyservin 0:fd24f7ca9688 19 ros::Time end;
garyservin 0:fd24f7ca9688 20
garyservin 0:fd24f7ca9688 21 AssembleScans2Request():
garyservin 0:fd24f7ca9688 22 begin(),
garyservin 0:fd24f7ca9688 23 end()
garyservin 0:fd24f7ca9688 24 {
garyservin 0:fd24f7ca9688 25 }
garyservin 0:fd24f7ca9688 26
garyservin 0:fd24f7ca9688 27 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 28 {
garyservin 0:fd24f7ca9688 29 int offset = 0;
garyservin 0:fd24f7ca9688 30 *(outbuffer + offset + 0) = (this->begin.sec >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 31 *(outbuffer + offset + 1) = (this->begin.sec >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 32 *(outbuffer + offset + 2) = (this->begin.sec >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 33 *(outbuffer + offset + 3) = (this->begin.sec >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 34 offset += sizeof(this->begin.sec);
garyservin 0:fd24f7ca9688 35 *(outbuffer + offset + 0) = (this->begin.nsec >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 36 *(outbuffer + offset + 1) = (this->begin.nsec >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset + 2) = (this->begin.nsec >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset + 3) = (this->begin.nsec >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 39 offset += sizeof(this->begin.nsec);
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset + 0) = (this->end.sec >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset + 1) = (this->end.sec >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset + 2) = (this->end.sec >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset + 3) = (this->end.sec >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 44 offset += sizeof(this->end.sec);
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset + 0) = (this->end.nsec >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset + 1) = (this->end.nsec >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset + 2) = (this->end.nsec >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset + 3) = (this->end.nsec >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 49 offset += sizeof(this->end.nsec);
garyservin 0:fd24f7ca9688 50 return offset;
garyservin 0:fd24f7ca9688 51 }
garyservin 0:fd24f7ca9688 52
garyservin 0:fd24f7ca9688 53 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 54 {
garyservin 0:fd24f7ca9688 55 int offset = 0;
garyservin 0:fd24f7ca9688 56 this->begin.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 57 this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 58 this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 59 this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 60 offset += sizeof(this->begin.sec);
garyservin 0:fd24f7ca9688 61 this->begin.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 62 this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 63 this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 64 this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 65 offset += sizeof(this->begin.nsec);
garyservin 0:fd24f7ca9688 66 this->end.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 67 this->end.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 68 this->end.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 69 this->end.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 70 offset += sizeof(this->end.sec);
garyservin 0:fd24f7ca9688 71 this->end.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 72 this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 73 this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 74 this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 75 offset += sizeof(this->end.nsec);
garyservin 0:fd24f7ca9688 76 return offset;
garyservin 0:fd24f7ca9688 77 }
garyservin 0:fd24f7ca9688 78
garyservin 0:fd24f7ca9688 79 const char * getType(){ return ASSEMBLESCANS2; };
garyservin 0:fd24f7ca9688 80 const char * getMD5(){ return "b341004f74e15bf5e1b2053a9183bdc7"; };
garyservin 0:fd24f7ca9688 81
garyservin 0:fd24f7ca9688 82 };
garyservin 0:fd24f7ca9688 83
garyservin 0:fd24f7ca9688 84 class AssembleScans2Response : public ros::Msg
garyservin 0:fd24f7ca9688 85 {
garyservin 0:fd24f7ca9688 86 public:
garyservin 0:fd24f7ca9688 87 sensor_msgs::PointCloud2 cloud;
garyservin 0:fd24f7ca9688 88
garyservin 0:fd24f7ca9688 89 AssembleScans2Response():
garyservin 0:fd24f7ca9688 90 cloud()
garyservin 0:fd24f7ca9688 91 {
garyservin 0:fd24f7ca9688 92 }
garyservin 0:fd24f7ca9688 93
garyservin 0:fd24f7ca9688 94 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 95 {
garyservin 0:fd24f7ca9688 96 int offset = 0;
garyservin 0:fd24f7ca9688 97 offset += this->cloud.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 98 return offset;
garyservin 0:fd24f7ca9688 99 }
garyservin 0:fd24f7ca9688 100
garyservin 0:fd24f7ca9688 101 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 102 {
garyservin 0:fd24f7ca9688 103 int offset = 0;
garyservin 0:fd24f7ca9688 104 offset += this->cloud.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 105 return offset;
garyservin 0:fd24f7ca9688 106 }
garyservin 0:fd24f7ca9688 107
garyservin 0:fd24f7ca9688 108 const char * getType(){ return ASSEMBLESCANS2; };
garyservin 0:fd24f7ca9688 109 const char * getMD5(){ return "96cec5374164b3b3d1d7ef5d7628a7ed"; };
garyservin 0:fd24f7ca9688 110
garyservin 0:fd24f7ca9688 111 };
garyservin 0:fd24f7ca9688 112
garyservin 0:fd24f7ca9688 113 class AssembleScans2 {
garyservin 0:fd24f7ca9688 114 public:
garyservin 0:fd24f7ca9688 115 typedef AssembleScans2Request Request;
garyservin 0:fd24f7ca9688 116 typedef AssembleScans2Response Response;
garyservin 0:fd24f7ca9688 117 };
garyservin 0:fd24f7ca9688 118
garyservin 0:fd24f7ca9688 119 }
garyservin 0:fd24f7ca9688 120 #endif