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Restructuring of generic middleware support files, wrapping of the main ROS calls, skeletons for publishers / subscribers
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,42 @@
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############################################################################
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#
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# Copyright (c) 2014 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Publisher Example Application
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#
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MODULE_COMMAND = publisher
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SRCS = publisher.cpp
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MODULE_STACKSIZE = 1200
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@@ -26,112 +26,70 @@
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*/
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#include <px4.h>
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// %EndTag(ROS_HEADER)%
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// %Tag(MSG_HEADER)%
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#include "std_msgs/String.h"
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// %EndTag(MSG_HEADER)%
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#include <sstream>
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#include <px4/rc_channels.h>
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#include <sstream>
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/**
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* This tutorial demonstrates simple sending of messages over the ROS system.
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* This tutorial demonstrates simple sending of messages over the PX4 middleware system.
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*/
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int main(int argc, char **argv)
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{
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/**
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* The ros::init() function needs to see argc and argv so that it can perform
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* any ROS arguments and name remapping that were provided at the command line. For programmatic
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* remappings you can use a different version of init() which takes remappings
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* directly, but for most command-line programs, passing argc and argv is the easiest
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* way to do it. The third argument to init() is the name of the node.
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*
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* You must call one of the versions of ros::init() before using any other
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* part of the ROS system.
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*/
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// %Tag(INIT)%
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ros::init(argc, argv, "px4_publisher");
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// %EndTag(INIT)%
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/**
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* NodeHandle is the main access point to communications with the ROS system.
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* The first NodeHandle constructed will fully initialize this node, and the last
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* NodeHandle destructed will close down the node.
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*/
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// %Tag(NODEHANDLE)%
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ros::NodeHandle n;
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// %EndTag(NODEHANDLE)%
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px4::init(argc, argv, "px4_publisher");
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/**
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* The advertise() function is how you tell ROS that you want to
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* publish on a given topic name. This invokes a call to the ROS
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* master node, which keeps a registry of who is publishing and who
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* is subscribing. After this advertise() call is made, the master
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* node will notify anyone who is trying to subscribe to this topic name,
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* and they will in turn negotiate a peer-to-peer connection with this
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* node. advertise() returns a Publisher object which allows you to
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* publish messages on that topic through a call to publish(). Once
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* all copies of the returned Publisher object are destroyed, the topic
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* will be automatically unadvertised.
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*
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* The second parameter to advertise() is the size of the message queue
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* used for publishing messages. If messages are published more quickly
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* than we can send them, the number here specifies how many messages to
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* buffer up before throwing some away.
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*/
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// %Tag(PUBLISHER)%
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ros::Publisher rc_channels_pub = n.advertise<px4::rc_channels>("rc_channels", 1000);
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// %EndTag(PUBLISHER)%
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ros::NodeHandle n;
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// %Tag(LOOP_RATE)%
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ros::Rate loop_rate(10);
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// %EndTag(LOOP_RATE)%
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/**
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* The advertise() function is how you tell ROS that you want to
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* publish on a given topic name. This invokes a call to the ROS
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* master node, which keeps a registry of who is publishing and who
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* is subscribing. After this advertise() call is made, the master
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* node will notify anyone who is trying to subscribe to this topic name,
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* and they will in turn negotiate a peer-to-peer connection with this
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* node. advertise() returns a Publisher object which allows you to
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* publish messages on that topic through a call to publish(). Once
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* all copies of the returned Publisher object are destroyed, the topic
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* will be automatically unadvertised.
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*
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* The second parameter to advertise() is the size of the message queue
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* used for publishing messages. If messages are published more quickly
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* than we can send them, the number here specifies how many messages to
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* buffer up before throwing some away.
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*/
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ros::Publisher rc_channels_pub = n.advertise<px4::rc_channels>("rc_channels", 1000);
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/**
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* A count of how many messages we have sent. This is used to create
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* a unique string for each message.
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*/
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// %Tag(ROS_OK)%
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int count = 0;
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while (ros::ok())
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{
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// %EndTag(ROS_OK)%
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/**
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* This is a message object. You stuff it with data, and then publish it.
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*/
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// %Tag(FILL_MESSAGE)%
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px4::rc_channels msg;
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px4::Rate loop_rate(10);
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ros::Time time = ros::Time::now();
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msg.timestamp_last_valid = time.sec * 1e6 + time.nsec;
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// %EndTag(FILL_MESSAGE)%
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/**
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* A count of how many messages we have sent. This is used to create
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* a unique string for each message.
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*/
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int count = 0;
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// %Tag(ROSCONSOLE)%
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px4_warnx("%lu", msg.timestamp_last_valid);
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// %EndTag(ROSCONSOLE)%
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while (px4::ok()) {
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/**
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* This is a message object. You stuff it with data, and then publish it.
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*/
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px4::rc_channels msg;
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/**
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* The publish() function is how you send messages. The parameter
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* is the message object. The type of this object must agree with the type
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* given as a template parameter to the advertise<>() call, as was done
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* in the constructor above.
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*/
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// %Tag(PUBLISH)%
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rc_channels_pub.publish(msg);
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// %EndTag(PUBLISH)%
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msg.timestamp_last_valid = px4::get_time_micros();
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PX4_INFO("%lu", msg.timestamp_last_valid);
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// %Tag(SPINONCE)%
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ros::spinOnce();
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// %EndTag(SPINONCE)%
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/**
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* The publish() function is how you send messages. The parameter
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* is the message object. The type of this object must agree with the type
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* given as a template parameter to the advertise<>() call, as was done
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* in the constructor above.
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*/
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rc_channels_pub.publish(msg);
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// %Tag(RATE_SLEEP)%
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loop_rate.sleep();
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// %EndTag(RATE_SLEEP)%
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++count;
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}
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px4::spin_once();
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loop_rate.sleep();
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++count;
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}
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return 0;
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return 0;
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}
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// %EndTag(FULLTEXT)%
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@@ -0,0 +1,42 @@
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############################################################################
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#
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# Copyright (c) 2014 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
|
||||
#
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||||
# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
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||||
# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
|
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
|
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# 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
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Subscriber Example Application
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#
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MODULE_COMMAND = subscriber
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SRCS = subscriber.cpp
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MODULE_STACKSIZE = 1200
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@@ -25,70 +25,63 @@
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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// %Tag(FULLTEXT)%
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#include "ros/ros.h"
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#include "std_msgs/String.h"
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#include <px4.h>
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#include "px4/rc_channels.h"
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/**
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* This tutorial demonstrates simple receipt of messages over the ROS system.
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* This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
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*/
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// %Tag(CALLBACK)%
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void rc_channels_callback(const px4::rc_channels::ConstPtr& msg)
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void rc_channels_callback(const px4::rc_channels::ConstPtr &msg)
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{
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ROS_INFO("I heard: [%lu]", msg->timestamp_last_valid);
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PX4_INFO("I heard: [%lu]", msg->timestamp_last_valid);
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}
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// %EndTag(CALLBACK)%
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PX4_MAIN_FUNCTION(subscriber)
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int main(int argc, char **argv)
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{
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/**
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* The ros::init() function needs to see argc and argv so that it can perform
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* any ROS arguments and name remapping that were provided at the command line. For programmatic
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* remappings you can use a different version of init() which takes remappings
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* directly, but for most command-line programs, passing argc and argv is the easiest
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* way to do it. The third argument to init() is the name of the node.
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*
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* You must call one of the versions of ros::init() before using any other
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* part of the ROS system.
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*/
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ros::init(argc, argv, "listener");
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/**
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* The ros::init() function needs to see argc and argv so that it can perform
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* any ROS arguments and name remapping that were provided at the command line. For programmatic
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* remappings you can use a different version of init() which takes remappings
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* directly, but for most command-line programs, passing argc and argv is the easiest
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* way to do it. The third argument to init() is the name of the node.
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*
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* You must call one of the versions of px4::init() before using any other
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* part of the PX4/ ROS system.
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*/
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px4::init(argc, argv, "listener");
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/**
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* NodeHandle is the main access point to communications with the ROS system.
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* The first NodeHandle constructed will fully initialize this node, and the last
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* NodeHandle destructed will close down the node.
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*/
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ros::NodeHandle n;
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/**
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* NodeHandle is the main access point to communications with the ROS system.
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* The first NodeHandle constructed will fully initialize this node, and the last
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* NodeHandle destructed will close down the node.
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*/
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ros::NodeHandle n;
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/**
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* The subscribe() call is how you tell ROS that you want to receive messages
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* on a given topic. This invokes a call to the ROS
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* master node, which keeps a registry of who is publishing and who
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* is subscribing. Messages are passed to a callback function, here
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* called chatterCallback. subscribe() returns a Subscriber object that you
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* must hold on to until you want to unsubscribe. When all copies of the Subscriber
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* object go out of scope, this callback will automatically be unsubscribed from
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* this topic.
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*
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* The second parameter to the subscribe() function is the size of the message
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* queue. If messages are arriving faster than they are being processed, this
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* is the number of messages that will be buffered up before beginning to throw
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* away the oldest ones.
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*/
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// %Tag(SUBSCRIBER)%
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ros::Subscriber sub = n.subscribe("rc_channels", 1000, rc_channels_callback);
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// %EndTag(SUBSCRIBER)%
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/**
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* The subscribe() call is how you tell ROS that you want to receive messages
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* on a given topic. This invokes a call to the ROS
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* master node, which keeps a registry of who is publishing and who
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* is subscribing. Messages are passed to a callback function, here
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* called chatterCallback. subscribe() returns a Subscriber object that you
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* must hold on to until you want to unsubscribe. When all copies of the Subscriber
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* object go out of scope, this callback will automatically be unsubscribed from
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* this topic.
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*
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* The second parameter to the subscribe() function is the size of the message
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* queue. If messages are arriving faster than they are being processed, this
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* is the number of messages that will be buffered up before beginning to throw
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* away the oldest ones.
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*/
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ros::Subscriber sub = n.subscribe("rc_channels", 1000, rc_channels_callback);
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/**
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* ros::spin() will enter a loop, pumping callbacks. With this version, all
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* callbacks will be called from within this thread (the main one). ros::spin()
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* will exit when Ctrl-C is pressed, or the node is shutdown by the master.
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*/
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// %Tag(SPIN)%
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ros::spin();
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// %EndTag(SPIN)%
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/**
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* px4::spin() will enter a loop, pumping callbacks. With this version, all
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* callbacks will be called from within this thread (the main one). px4::spin()
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* will exit when Ctrl-C is pressed, or the node is shutdown by the master.
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*/
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px4::spin();
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return 0;
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return 0;
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}
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// %EndTag(FULLTEXT)%
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Block a user