rosserial_tivac_tutorials

Tutorials and examples for rosserial_tivac package.

Building procedure:

catkin_make rosserial_tivac_tutorials_generate_messages
source devel/setup.bash
catkin_make

Tutorials and examples:

chatter

Small demo for the TM4C123GXL Launchpad. It uses the UART on the debug USB port to communicate with rosserial. Publishes on topic /chatter a string every few milliseconds.

chatter129

Small demo prepared for the TM4C1294XL Connected Launchpad. It uses the UART on the debug USB port to communicate with rosserial. Publishes on topic /chatter a string every few milliseconds.

buttons

User button state publisher for the TM4C123GXL Launchpad. Enumerates CDC device class on the device USB port to communicate with rosserial. Publishes on topic /button_state a custom message rosserial_tivac_tutorials/Buttons.

getparam

For the TM4C123GXL Launchpad. It uses the UART on the debug USB port to communicate with rosserial. Gets private parameter 'my_param' on the rosserial node. Publishes on topic /param a float, with the default value is -1.0 if parameter is not found.

rgb_led

Subscriber demo for the TM4C123GXL Launchpad. Enumerates CDC device class on the device USB port to communicate with rosserial. Subscribes to topic /led of message std_msgs/ColorRGBA to change intensity and colors, value range from [0 1.0].

rgb_srv

Service server demo for the TM4C123GXL Launchpad. Enumerates CDC device class on the device USB port to communicate with rosserial. Provides a service on topic /led of message rosserial_tivac_tutorials/ColorRGBA to change intensity and colors, value range from [0 1.0], and always responds with true.

time_tf

Time and TF demo for the TM4C123GXL Launchpad. Enumerates CDC device class on the device USB port to communicate with rosserial. Publishes on topic /tf a static transform, timestamped with the current time.

FreeRTOS on TM4C123GXL

Demo FreeRTOS application using rosserial_tivac. This demo creates 3 tasks.

1. spin task - handles ros::spinOnce() periodically at 100ms.
2. subscribe task - reads from the received message queue and processes data. Sends length of string to processed data queue.
3. publish task - publishes data from processed data queue.