Gary Servin / ros_lib_kinetic

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

Dependencies:   BufferedSerial

Dependents:   rosserial_mbed_hello_world_publisher_kinetic s-rov-firmware ROS_HCSR04 DISCO-F469NI_LCDTS_demo ... more

ROSSerial_mbed for Kinetic 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_kinetic

rosserial_mbed Hello World example for Kinetic Kame distribution

Last commit 31 Dec 2016 by Gary Servin

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();
    }
}

Diff: control_msgs/QueryTrajectoryState.h

Revision:
0:9e9b7db60fd5
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/QueryTrajectoryState.h	Sat Dec 31 00:48:34 2016 +0000
@@ -0,0 +1,287 @@
+#ifndef _ROS_SERVICE_QueryTrajectoryState_h
+#define _ROS_SERVICE_QueryTrajectoryState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace control_msgs
+{
+
+static const char QUERYTRAJECTORYSTATE[] = "control_msgs/QueryTrajectoryState";
+
+  class QueryTrajectoryStateRequest : public ros::Msg
+  {
+    public:
+      typedef ros::Time _time_type;
+      _time_type time;
+
+    QueryTrajectoryStateRequest():
+      time()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->time.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time.sec);
+      *(outbuffer + offset + 0) = (this->time.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->time.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time.sec);
+      this->time.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return QUERYTRAJECTORYSTATE; };
+    const char * getMD5(){ return "556a4fb76023a469987922359d08a844"; };
+
+  };
+
+  class QueryTrajectoryStateResponse : public ros::Msg
+  {
+    public:
+      uint32_t name_length;
+      typedef char* _name_type;
+      _name_type st_name;
+      _name_type * name;
+      uint32_t position_length;
+      typedef double _position_type;
+      _position_type st_position;
+      _position_type * position;
+      uint32_t velocity_length;
+      typedef double _velocity_type;
+      _velocity_type st_velocity;
+      _velocity_type * velocity;
+      uint32_t acceleration_length;
+      typedef double _acceleration_type;
+      _acceleration_type st_acceleration;
+      _acceleration_type * acceleration;
+
+    QueryTrajectoryStateResponse():
+      name_length(0), name(NULL),
+      position_length(0), position(NULL),
+      velocity_length(0), velocity(NULL),
+      acceleration_length(0), acceleration(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->name_length);
+      for( uint32_t i = 0; i < name_length; i++){
+      uint32_t length_namei = strlen(this->name[i]);
+      varToArr(outbuffer + offset, length_namei);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], length_namei);
+      offset += length_namei;
+      }
+      *(outbuffer + offset + 0) = (this->position_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->position_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->position_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->position_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->position_length);
+      for( uint32_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_positioni;
+      u_positioni.real = this->position[i];
+      *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position[i]);
+      }
+      *(outbuffer + offset + 0) = (this->velocity_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->velocity_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->velocity_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->velocity_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->velocity_length);
+      for( uint32_t i = 0; i < velocity_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_velocityi;
+      u_velocityi.real = this->velocity[i];
+      *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->velocity[i]);
+      }
+      *(outbuffer + offset + 0) = (this->acceleration_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->acceleration_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->acceleration_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->acceleration_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->acceleration_length);
+      for( uint32_t i = 0; i < acceleration_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_accelerationi;
+      u_accelerationi.real = this->acceleration[i];
+      *(outbuffer + offset + 0) = (u_accelerationi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_accelerationi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_accelerationi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_accelerationi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_accelerationi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_accelerationi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_accelerationi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_accelerationi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->acceleration[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->name_length);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      name_length = name_lengthT;
+      for( uint32_t i = 0; i < name_length; i++){
+      uint32_t length_st_name;
+      arrToVar(length_st_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      uint32_t position_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      position_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      position_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      position_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->position_length);
+      if(position_lengthT > position_length)
+        this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
+      position_length = position_lengthT;
+      for( uint32_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_position;
+      u_st_position.base = 0;
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_position = u_st_position.real;
+      offset += sizeof(this->st_position);
+        memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
+      }
+      uint32_t velocity_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->velocity_length);
+      if(velocity_lengthT > velocity_length)
+        this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double));
+      velocity_length = velocity_lengthT;
+      for( uint32_t i = 0; i < velocity_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_velocity;
+      u_st_velocity.base = 0;
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_velocity = u_st_velocity.real;
+      offset += sizeof(this->st_velocity);
+        memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double));
+      }
+      uint32_t acceleration_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      acceleration_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      acceleration_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      acceleration_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->acceleration_length);
+      if(acceleration_lengthT > acceleration_length)
+        this->acceleration = (double*)realloc(this->acceleration, acceleration_lengthT * sizeof(double));
+      acceleration_length = acceleration_lengthT;
+      for( uint32_t i = 0; i < acceleration_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_acceleration;
+      u_st_acceleration.base = 0;
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_acceleration = u_st_acceleration.real;
+      offset += sizeof(this->st_acceleration);
+        memcpy( &(this->acceleration[i]), &(this->st_acceleration), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return QUERYTRAJECTORYSTATE; };
+    const char * getMD5(){ return "1f1a6554ad060f44d013e71868403c1a"; };
+
+  };
+
+  class QueryTrajectoryState {
+    public:
+    typedef QueryTrajectoryStateRequest Request;
+    typedef QueryTrajectoryStateResponse Response;
+  };
+
+}
+#endif