This is a rosserial demo for the STM32F407 discovery board.

From the root of this project, generate the ROS message headers:

rosrun rosserial_client make_libraries src

Then you can build and flash the board:

git submodule init
git submodule update

make
make flash

Now we can run the node:

roscore &
rosrun rosserial_python serial_node.py _port:=/dev/ttyACM1

Replace /dev/ttyACM1 by the port used to communicate with your board.

In a new terminal, you can try out the button:

rostopic echo /button

Everytime you push the button, a message is published.

Or you can look at the accelerometer values being published:

rostopic echo /accelerometer

Finally, you can control the LEDs intensities by publishing a std_msgs/UInt16 to one of these topics:

rostopic pub /led/red std_msgs/UInt16 --once 1000
rostopic pub /led/blue std_msgs/UInt16 --once 1000
rostopic pub /led/green std_msgs/UInt16 --once 1000
rostopic pub /led/orange std_msgs/UInt16 --once 1000