diff options
| -rw-r--r-- | CMakeLists.txt | 32 | ||||
| -rw-r--r-- | msg/rc_channels.msg | 6 | ||||
| -rw-r--r-- | src/examples/publisher/publisher.cpp | 137 | ||||
| -rw-r--r-- | src/examples/subscriber/subscriber.cpp | 93 |
4 files changed, 255 insertions, 13 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index 834a8f0c1..d370c5a3f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -8,6 +8,7 @@ find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs + message_generation ) ## System dependencies are found with CMake's conventions @@ -44,11 +45,10 @@ find_package(catkin REQUIRED COMPONENTS ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) ## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) +add_message_files( + FILES + rc_channels.msg +) ## Generate services in the 'srv' folder # add_service_files( @@ -99,18 +99,30 @@ include_directories( ## Declare a cpp library # add_library(px4 -# src/${PROJECT_NAME}/px4test.cpp # src/platform/ros/ros.cpp +# src/${PROJECT_NAME}/px4test.cpp # src/platforms/ros/ros.cpp # ) -## Declare a cpp executable -add_executable(rostest_node src/platform/ros/ros.cpp) +## Declare a test publisher +add_executable(publisher src/examples/publisher/publisher.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +add_dependencies(publisher px4_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +target_link_libraries(publisher + ${catkin_LIBRARIES} +) + +## Declare a test subscriber +add_executable(subscriber src/examples/subscriber/subscriber.cpp) ## Add cmake target dependencies of the executable/library ## as an example, message headers may need to be generated before nodes -add_dependencies(rostest_node px4_generate_messages_cpp) +add_dependencies(subscriber px4_generate_messages_cpp) ## Specify libraries to link a library or executable target against -target_link_libraries(rostest_node +target_link_libraries(subscriber ${catkin_LIBRARIES} ) diff --git a/msg/rc_channels.msg b/msg/rc_channels.msg index 9b3c70835..11dc57c42 100644 --- a/msg/rc_channels.msg +++ b/msg/rc_channels.msg @@ -1,8 +1,8 @@ Header header int32 RC_CHANNELS_FUNCTION_MAX=18 uint64 timestamp_last_valid # Timestamp of last valid RC signal -float32 channels[RC_CHANNELS_FUNCTION_MAX] # Scaled to -1..1 (throttle: 0..1) +float32[18] channels # Scaled to -1..1 (throttle: 0..1) uint8 channel_count # Number of valid channels -int8 function[RC_CHANNELS_FUNCTION_MAX] # Functions mapping +int8[18] function # Functions mapping uint8 rssi # Receive signal strength index -bool signal_lost # Control signal lost, should be checked together with topic timeout
\ No newline at end of file +bool signal_lost # Control signal lost, should be checked together with topic timeout diff --git a/src/examples/publisher/publisher.cpp b/src/examples/publisher/publisher.cpp new file mode 100644 index 000000000..2c0f84476 --- /dev/null +++ b/src/examples/publisher/publisher.cpp @@ -0,0 +1,137 @@ +/* + * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +// %Tag(FULLTEXT)% +// %Tag(ROS_HEADER)% +#include "ros/ros.h" +// %EndTag(ROS_HEADER)% +// %Tag(MSG_HEADER)% +#include "std_msgs/String.h" +// %EndTag(MSG_HEADER)% + +#include <sstream> + +/** + * This tutorial demonstrates simple sending of messages over the ROS system. + */ +int main(int argc, char **argv) +{ + /** + * The ros::init() function needs to see argc and argv so that it can perform + * any ROS arguments and name remapping that were provided at the command line. For programmatic + * remappings you can use a different version of init() which takes remappings + * directly, but for most command-line programs, passing argc and argv is the easiest + * way to do it. The third argument to init() is the name of the node. + * + * You must call one of the versions of ros::init() before using any other + * part of the ROS system. + */ +// %Tag(INIT)% + ros::init(argc, argv, "talker"); +// %EndTag(INIT)% + + /** + * NodeHandle is the main access point to communications with the ROS system. + * The first NodeHandle constructed will fully initialize this node, and the last + * NodeHandle destructed will close down the node. + */ +// %Tag(NODEHANDLE)% + ros::NodeHandle n; +// %EndTag(NODEHANDLE)% + + /** + * The advertise() function is how you tell ROS that you want to + * publish on a given topic name. This invokes a call to the ROS + * master node, which keeps a registry of who is publishing and who + * is subscribing. After this advertise() call is made, the master + * node will notify anyone who is trying to subscribe to this topic name, + * and they will in turn negotiate a peer-to-peer connection with this + * node. advertise() returns a Publisher object which allows you to + * publish messages on that topic through a call to publish(). Once + * all copies of the returned Publisher object are destroyed, the topic + * will be automatically unadvertised. + * + * The second parameter to advertise() is the size of the message queue + * used for publishing messages. If messages are published more quickly + * than we can send them, the number here specifies how many messages to + * buffer up before throwing some away. + */ +// %Tag(PUBLISHER)% + ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000); +// %EndTag(PUBLISHER)% + +// %Tag(LOOP_RATE)% + ros::Rate loop_rate(10); +// %EndTag(LOOP_RATE)% + + /** + * A count of how many messages we have sent. This is used to create + * a unique string for each message. + */ +// %Tag(ROS_OK)% + int count = 0; + while (ros::ok()) + { +// %EndTag(ROS_OK)% + /** + * This is a message object. You stuff it with data, and then publish it. + */ +// %Tag(FILL_MESSAGE)% + std_msgs::String msg; + + std::stringstream ss; + ss << "hello world " << count; + msg.data = ss.str(); +// %EndTag(FILL_MESSAGE)% + +// %Tag(ROSCONSOLE)% + ROS_INFO("%s", msg.data.c_str()); +// %EndTag(ROSCONSOLE)% + + /** + * The publish() function is how you send messages. The parameter + * is the message object. The type of this object must agree with the type + * given as a template parameter to the advertise<>() call, as was done + * in the constructor above. + */ +// %Tag(PUBLISH)% + chatter_pub.publish(msg); +// %EndTag(PUBLISH)% + +// %Tag(SPINONCE)% + ros::spinOnce(); +// %EndTag(SPINONCE)% + +// %Tag(RATE_SLEEP)% + loop_rate.sleep(); +// %EndTag(RATE_SLEEP)% + ++count; + } + + + return 0; +} +// %EndTag(FULLTEXT)%
\ No newline at end of file diff --git a/src/examples/subscriber/subscriber.cpp b/src/examples/subscriber/subscriber.cpp new file mode 100644 index 000000000..e46055306 --- /dev/null +++ b/src/examples/subscriber/subscriber.cpp @@ -0,0 +1,93 @@ +/* + * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +// %Tag(FULLTEXT)% +#include "ros/ros.h" +#include "std_msgs/String.h" + +/** + * This tutorial demonstrates simple receipt of messages over the ROS system. + */ +// %Tag(CALLBACK)% +void chatterCallback(const std_msgs::String::ConstPtr& msg) +{ + ROS_INFO("I heard: [%s]", msg->data.c_str()); +} +// %EndTag(CALLBACK)% + +int main(int argc, char **argv) +{ + /** + * The ros::init() function needs to see argc and argv so that it can perform + * any ROS arguments and name remapping that were provided at the command line. For programmatic + * remappings you can use a different version of init() which takes remappings + * directly, but for most command-line programs, passing argc and argv is the easiest + * way to do it. The third argument to init() is the name of the node. + * + * You must call one of the versions of ros::init() before using any other + * part of the ROS system. + */ + ros::init(argc, argv, "listener"); + + /** + * NodeHandle is the main access point to communications with the ROS system. + * The first NodeHandle constructed will fully initialize this node, and the last + * NodeHandle destructed will close down the node. + */ + ros::NodeHandle n; + + /** + * The subscribe() call is how you tell ROS that you want to receive messages + * on a given topic. This invokes a call to the ROS + * master node, which keeps a registry of who is publishing and who + * is subscribing. Messages are passed to a callback function, here + * called chatterCallback. subscribe() returns a Subscriber object that you + * must hold on to until you want to unsubscribe. When all copies of the Subscriber + * object go out of scope, this callback will automatically be unsubscribed from + * this topic. + * + * The second parameter to the subscribe() function is the size of the message + * queue. If messages are arriving faster than they are being processed, this + * is the number of messages that will be buffered up before beginning to throw + * away the oldest ones. + */ +// %Tag(SUBSCRIBER)% + ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback); +// %EndTag(SUBSCRIBER)% + + /** + * ros::spin() will enter a loop, pumping callbacks. With this version, all + * callbacks will be called from within this thread (the main one). ros::spin() + * will exit when Ctrl-C is pressed, or the node is shutdown by the master. + */ +// %Tag(SPIN)% + ros::spin(); +// %EndTag(SPIN)% + + return 0; +} +// %EndTag(FULLTEXT)%
\ No newline at end of file |