rosserial_stm32f7

DISCLAIMER:

THIS IMPLEMENTATION CURRENTLY WORKS ONLY WITH STDS MESSAGES AND ISN'T MAINTAINED

IF YOU DO MANAGE TO MAKE IT WORK WITH EVERY MESSAGE A PULL REQUEST WOULD BE NICE

Rosserial implementation for STM32F767, developed to work with STM32CubeIDE projects

Heavily based on yoneken's rosserial_stm32

Generate code

$ cd path/to/your/project/Core

$ rosrun rosserial_stm32f7 make_libraries.py .

Note that older versions of STM32CubeIde do not have a "Core" folder, instead "Src" and "Inc" folders are inside the root of your project. As a general rule you should cd into the folder which has "Src" and "Inc" inside.

Usage

1. Create a new STM32CubeIDE project:

• Enable USARTx and select TX and RX pins
• Enable USARTx global interrupt
• Enable DMA for USARTx_TX and USARTx_RX and set their priority to HIGH

2. Create ros libraries in your project

cd your/catkin/workspace/src

git clone https://github.com/fdila/rosserial_stm32f7

cd ..

catkin_make

source devel/setup.bash

cd path/to/your/stm32_project

rosrun rosserial_stm32f7 make_libraries.py .

3. Set header files to be compiled with g++

• Right click on your project -> Properties
• C/C++ generals
• File Types
• Use project settings
• New..
• Pattern: *.h Type: C++ Header File

4. Convert your stm32 project to C++

• Right click on your project inside the IDE -> Convert to C++
• Rename main.c to main.cpp

5. On your computer start roscore and rosserial_server:

roscore

rosrun rosserial_server serial_node _port:=/dev/ttyYourBoard _baud:=YourBaudRate

If you have to modify the initial configuration through CubeMX:

• Rename main.cpp to main.c
• Do your changes
• Repeat step 4