See also rosserial/Overview.

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Overview

This package contains all necessary extensions on rosserial_client to bring two Tiva C Launchpad boards from TI's Launchpad ecosystem to ROS. All boards can use both debug USB and device USB to communicate with rosserial.

• EK-TM4C123GXL
• EK-TM4C1294XL

Due to changes in USB library of TivaWare. Compatible with SW-TM4C-2.1.3.156 onwards

This package contains the prepares the required libraries for Energia's IDE and also prepares a build configuration for catkin packages based on arm-none-eabi GNU compiler toolchain and TI's TivaWare libraries.

Repositories:

https://github.com/vmatos/rosserial_tivac

https://github.com/vmatos/rosserial_tivac_tutorials

Tutorials

The Tutorials page of this package will walk you through the steps for setting up your environment, and demonstrate how to develop applications, both for Energia and catkin.

Resources used

Some resources are strictly required to enable rosserial communication with your ROS computer. On your application, you must pay attention not to disable or change the peripherals configuration.

The SystemTick interrupt service must be available for rosserial_tivac to use, so it can keep the execution time.

rosserial_tivac will communicate either through UART0 or USB0:

• UART0 which is connected directly to the ICDI device of the board, available as USB serial converter on the debug USB port.

• USB0 which behaves as CDC USB device over the device USB port.

If you use rosserial over UART0, you are free to use USB0. Or if you use rosserial over USB0, you have available UART0.

No more resources are required. Optionally two LEDs are used to indicate the passing of time, and the communication activity over the serial line.

CMakeLists.txt (not for Energia projects)

After going through the Tutorials you should have understood that each project requires a CMakeLists.txt which calls the function generate_tivac_firmware to prepare the build files.

This function requires two environment variables:

• TIVA_WARE_PATH - TI TivaWare SDK path

• TIVA_FLASH_EXECUTABLE - lm4flash tool executable

And takes the arguments:

• USB - Optional argument, if you wish to have rosserial over USB CDC device.

• DEVICE_SILICON - Optional argument. e.g. TARGET_IS_TM4C123_RB1 Defines the specific chip's silicon revision.

• DEVICE_SERIAL - Optional argument. Creates flash target for specific device.
• BOARD - Required. Takes one argument, tm4c123gxl or tm4c1294xl.
• STARTUP - Optional argument. Takes the name of custom startup file.
• SRCS - Required. List of source files to compile.
• INCS - Optional. List of include directories.
• LIBS - Optional. List of libraries to be linked.

And creates custom targets for project:

• <parent_catkin_project>_${CMAKE_PROJECT_NAME}.axf - Build binary file

• <parent_catkin_project>_${CMAKE_PROJECT_NAME}_flash - Flashes board with binary file

• <parent_catkin_project>_${CMAKE_PROJECT_NAME}_size - Prints out the size of sections and totals of binary file

• <parent_catkin_project>_${CMAKE_PROJECT_NAME}_dump - Prints table of symbols and such

Example:

generate_tivac_firmware(
  USB
  STARTUP custom_startup.c
  SRCS buttons.cpp buttons.c
  INCS .
  BOARD tm4c123gxl
)

This example sets rosserial communication through USB CDC device. Add two source files to be compiled on the project and includes the project directory. It will compile the project for tm4c123gxl board.

If for any particular reason, the author of the projects also needs to specify on the interrupt vector some interrupt handlers, he is able to specify a custom startup file.