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Hi Peter,<br>
<br>
Was your approach a counterpart of rosserial on Arduino?<br>
<br>
Our approach can communicate directly with a ROS master on a PC via
UDPROS (over Ethernet), so there is no need for a rosserial server.
As for message generation, I simply used rosserial's C++ message
header generation and copied some of those headers into my code. A
message generator can be added to the repo later for generating
messages before compiling the software.<br>
<br>
The code is actually ready for testing. Currently, STM32 can publish
IMU and ultrasonic sensor values to a PC. I will also do some
performance evaluation to see the limits, i.e. max number of nodes,
publishers, subscribers, etc.<br>
<br>
-Yigit<br>
<br>
<div class="moz-cite-prefix">On 07/08/2015 10:22 AM, Peter Rudolph
wrote:<br>
</div>
<blockquote
cite="mid:CABWaPG_gcB6fNv4dy5nWM8N17uL-PN-Damw_K4J9f2uf22C01g@mail.gmail.com"
type="cite">
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<div>Before ROSCON 2013 I did similiar things. I implemented a
lightweight ROS in C. Had also an IMU demo with an STM32F4
board ;-) ... I posted this in the SIG embedded, but did not
have any time to maintain it. So how ready is your stuff (I
will have a look into repo later) ? Do you also have a code
generator for standard ROS message generation in C (as
single header file, like me did)? I used standard serial
(RS-232 or USB) to communicate between uC and PC, and
managed to use the available ROS-Serial pc-node to use my
uC.<br>
<br>
</div>
Regards,<br>
</div>
Peter<br>
</div>
<div class="gmail_extra"><br>
<div class="gmail_quote">2015-07-07 15:07 GMT+02:00 Yigit Gunay
via ros-users <span dir="ltr"><<a moz-do-not-send="true"
href="mailto:ros-users@lists.ros.org" target="_blank">ros-users@lists.ros.org</a>></span>:<br>
<blockquote class="gmail_quote" style="margin:0 0 0
.8ex;border-left:1px #ccc solid;padding-left:1ex">Hello
everyone,<br>
<br>
We are developing a lightweight implementation of the ROS
middleware on STM32F4Discovery for interfacing embedded and
general-purpose software. Currently, we can run multiple ROS
nodes concurrently on STM32, and we can send ROS messages
between a PC and STM32 over Ethernet (only UDPROS).<br>
<br>
Please take a look at our repository on Github if you are
interested in our real-time ROS development: <a
moz-do-not-send="true"
href="https://github.com/bosch-ros-pkg/stm32"
rel="noreferrer" target="_blank">https://github.com/bosch-ros-pkg/stm32</a>.<br>
<br>
I would appreciate your comments. Thanks for your attention!<br>
<br>
Best regards,<br>
Yigit Gunay<br>
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</blockquote>
</div>
<br>
</div>
</blockquote>
<br>
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