ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information
Dependents: rosserial_mbed_hello_world_publisher rtos_base_control rosserial_mbed_F64MA ROS-RTOS ... more
ROSSerial_mbed for Indigo Distribution
The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms.
The rosserial_mbed package allows to write ROS nodes on any mbed enabled devices and have them connected to a running ROS system on your computer using the serial port.
Hello World (example publisher)
Import programrosserial_mbed_hello_world_publisher
rosserial_mbed Hello World
Running the Code
Now, launch the roscore in a new terminal window:
Quote:
$ roscore
Next, run the rosserial client application that forwards your MBED messages to the rest of ROS. Make sure to use the correct serial port:
Quote:
$ rosrun rosserial_python serial_node.py /dev/ttyACM0
Finally, watch the greetings come in from your MBED by launching a new terminal window and entering :
Quote:
$ rostopic echo chatter
See Also
More examples
Blink
/* * rosserial Subscriber Example * Blinks an LED on callback */ #include "mbed.h" #include <ros.h> #include <std_msgs/Empty.h> ros::NodeHandle nh; DigitalOut myled(LED1); void messageCb(const std_msgs::Empty& toggle_msg){ myled = !myled; // blink the led } ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb); int main() { nh.initNode(); nh.subscribe(sub); while (1) { nh.spinOnce(); wait_ms(1); } }
Push
/* * Button Example for Rosserial */ #include "mbed.h" #include <ros.h> #include <std_msgs/Bool.h> PinName button = p20; ros::NodeHandle nh; std_msgs::Bool pushed_msg; ros::Publisher pub_button("pushed", &pushed_msg); DigitalIn button_pin(button); DigitalOut led_pin(LED1); bool last_reading; long last_debounce_time=0; long debounce_delay=50; bool published = true; Timer t; int main() { t.start(); nh.initNode(); nh.advertise(pub_button); //Enable the pullup resistor on the button button_pin.mode(PullUp); //The button is a normally button last_reading = ! button_pin; while (1) { bool reading = ! button_pin; if (last_reading!= reading) { last_debounce_time = t.read_ms(); published = false; } //if the button value has not changed for the debounce delay, we know its stable if ( !published && (t.read_ms() - last_debounce_time) > debounce_delay) { led_pin = reading; pushed_msg.data = reading; pub_button.publish(&pushed_msg); published = true; } last_reading = reading; nh.spinOnce(); } }
gazebo_msgs/ODEPhysics.h@0:fd24f7ca9688, 2016-03-31 (annotated)
- Committer:
- garyservin
- Date:
- Thu Mar 31 14:22:59 2016 +0000
- Revision:
- 0:fd24f7ca9688
Initial commit, generated based on a clean indigo-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:fd24f7ca9688 | 1 | #ifndef _ROS_gazebo_msgs_ODEPhysics_h |
garyservin | 0:fd24f7ca9688 | 2 | #define _ROS_gazebo_msgs_ODEPhysics_h |
garyservin | 0:fd24f7ca9688 | 3 | |
garyservin | 0:fd24f7ca9688 | 4 | #include <stdint.h> |
garyservin | 0:fd24f7ca9688 | 5 | #include <string.h> |
garyservin | 0:fd24f7ca9688 | 6 | #include <stdlib.h> |
garyservin | 0:fd24f7ca9688 | 7 | #include "ros/msg.h" |
garyservin | 0:fd24f7ca9688 | 8 | |
garyservin | 0:fd24f7ca9688 | 9 | namespace gazebo_msgs |
garyservin | 0:fd24f7ca9688 | 10 | { |
garyservin | 0:fd24f7ca9688 | 11 | |
garyservin | 0:fd24f7ca9688 | 12 | class ODEPhysics : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 13 | { |
garyservin | 0:fd24f7ca9688 | 14 | public: |
garyservin | 0:fd24f7ca9688 | 15 | bool auto_disable_bodies; |
garyservin | 0:fd24f7ca9688 | 16 | uint32_t sor_pgs_precon_iters; |
garyservin | 0:fd24f7ca9688 | 17 | uint32_t sor_pgs_iters; |
garyservin | 0:fd24f7ca9688 | 18 | double sor_pgs_w; |
garyservin | 0:fd24f7ca9688 | 19 | double sor_pgs_rms_error_tol; |
garyservin | 0:fd24f7ca9688 | 20 | double contact_surface_layer; |
garyservin | 0:fd24f7ca9688 | 21 | double contact_max_correcting_vel; |
garyservin | 0:fd24f7ca9688 | 22 | double cfm; |
garyservin | 0:fd24f7ca9688 | 23 | double erp; |
garyservin | 0:fd24f7ca9688 | 24 | uint32_t max_contacts; |
garyservin | 0:fd24f7ca9688 | 25 | |
garyservin | 0:fd24f7ca9688 | 26 | ODEPhysics(): |
garyservin | 0:fd24f7ca9688 | 27 | auto_disable_bodies(0), |
garyservin | 0:fd24f7ca9688 | 28 | sor_pgs_precon_iters(0), |
garyservin | 0:fd24f7ca9688 | 29 | sor_pgs_iters(0), |
garyservin | 0:fd24f7ca9688 | 30 | sor_pgs_w(0), |
garyservin | 0:fd24f7ca9688 | 31 | sor_pgs_rms_error_tol(0), |
garyservin | 0:fd24f7ca9688 | 32 | contact_surface_layer(0), |
garyservin | 0:fd24f7ca9688 | 33 | contact_max_correcting_vel(0), |
garyservin | 0:fd24f7ca9688 | 34 | cfm(0), |
garyservin | 0:fd24f7ca9688 | 35 | erp(0), |
garyservin | 0:fd24f7ca9688 | 36 | max_contacts(0) |
garyservin | 0:fd24f7ca9688 | 37 | { |
garyservin | 0:fd24f7ca9688 | 38 | } |
garyservin | 0:fd24f7ca9688 | 39 | |
garyservin | 0:fd24f7ca9688 | 40 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:fd24f7ca9688 | 41 | { |
garyservin | 0:fd24f7ca9688 | 42 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 43 | union { |
garyservin | 0:fd24f7ca9688 | 44 | bool real; |
garyservin | 0:fd24f7ca9688 | 45 | uint8_t base; |
garyservin | 0:fd24f7ca9688 | 46 | } u_auto_disable_bodies; |
garyservin | 0:fd24f7ca9688 | 47 | u_auto_disable_bodies.real = this->auto_disable_bodies; |
garyservin | 0:fd24f7ca9688 | 48 | *(outbuffer + offset + 0) = (u_auto_disable_bodies.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 49 | offset += sizeof(this->auto_disable_bodies); |
garyservin | 0:fd24f7ca9688 | 50 | *(outbuffer + offset + 0) = (this->sor_pgs_precon_iters >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 51 | *(outbuffer + offset + 1) = (this->sor_pgs_precon_iters >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 52 | *(outbuffer + offset + 2) = (this->sor_pgs_precon_iters >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 53 | *(outbuffer + offset + 3) = (this->sor_pgs_precon_iters >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 54 | offset += sizeof(this->sor_pgs_precon_iters); |
garyservin | 0:fd24f7ca9688 | 55 | *(outbuffer + offset + 0) = (this->sor_pgs_iters >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 56 | *(outbuffer + offset + 1) = (this->sor_pgs_iters >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 57 | *(outbuffer + offset + 2) = (this->sor_pgs_iters >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 58 | *(outbuffer + offset + 3) = (this->sor_pgs_iters >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 59 | offset += sizeof(this->sor_pgs_iters); |
garyservin | 0:fd24f7ca9688 | 60 | union { |
garyservin | 0:fd24f7ca9688 | 61 | double real; |
garyservin | 0:fd24f7ca9688 | 62 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 63 | } u_sor_pgs_w; |
garyservin | 0:fd24f7ca9688 | 64 | u_sor_pgs_w.real = this->sor_pgs_w; |
garyservin | 0:fd24f7ca9688 | 65 | *(outbuffer + offset + 0) = (u_sor_pgs_w.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 66 | *(outbuffer + offset + 1) = (u_sor_pgs_w.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 67 | *(outbuffer + offset + 2) = (u_sor_pgs_w.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 68 | *(outbuffer + offset + 3) = (u_sor_pgs_w.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 69 | *(outbuffer + offset + 4) = (u_sor_pgs_w.base >> (8 * 4)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 70 | *(outbuffer + offset + 5) = (u_sor_pgs_w.base >> (8 * 5)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 71 | *(outbuffer + offset + 6) = (u_sor_pgs_w.base >> (8 * 6)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 72 | *(outbuffer + offset + 7) = (u_sor_pgs_w.base >> (8 * 7)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 73 | offset += sizeof(this->sor_pgs_w); |
garyservin | 0:fd24f7ca9688 | 74 | union { |
garyservin | 0:fd24f7ca9688 | 75 | double real; |
garyservin | 0:fd24f7ca9688 | 76 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 77 | } u_sor_pgs_rms_error_tol; |
garyservin | 0:fd24f7ca9688 | 78 | u_sor_pgs_rms_error_tol.real = this->sor_pgs_rms_error_tol; |
garyservin | 0:fd24f7ca9688 | 79 | *(outbuffer + offset + 0) = (u_sor_pgs_rms_error_tol.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 80 | *(outbuffer + offset + 1) = (u_sor_pgs_rms_error_tol.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 81 | *(outbuffer + offset + 2) = (u_sor_pgs_rms_error_tol.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 82 | *(outbuffer + offset + 3) = (u_sor_pgs_rms_error_tol.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 83 | *(outbuffer + offset + 4) = (u_sor_pgs_rms_error_tol.base >> (8 * 4)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 84 | *(outbuffer + offset + 5) = (u_sor_pgs_rms_error_tol.base >> (8 * 5)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 85 | *(outbuffer + offset + 6) = (u_sor_pgs_rms_error_tol.base >> (8 * 6)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 86 | *(outbuffer + offset + 7) = (u_sor_pgs_rms_error_tol.base >> (8 * 7)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 87 | offset += sizeof(this->sor_pgs_rms_error_tol); |
garyservin | 0:fd24f7ca9688 | 88 | union { |
garyservin | 0:fd24f7ca9688 | 89 | double real; |
garyservin | 0:fd24f7ca9688 | 90 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 91 | } u_contact_surface_layer; |
garyservin | 0:fd24f7ca9688 | 92 | u_contact_surface_layer.real = this->contact_surface_layer; |
garyservin | 0:fd24f7ca9688 | 93 | *(outbuffer + offset + 0) = (u_contact_surface_layer.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 94 | *(outbuffer + offset + 1) = (u_contact_surface_layer.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 95 | *(outbuffer + offset + 2) = (u_contact_surface_layer.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 96 | *(outbuffer + offset + 3) = (u_contact_surface_layer.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 97 | *(outbuffer + offset + 4) = (u_contact_surface_layer.base >> (8 * 4)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 98 | *(outbuffer + offset + 5) = (u_contact_surface_layer.base >> (8 * 5)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 99 | *(outbuffer + offset + 6) = (u_contact_surface_layer.base >> (8 * 6)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 100 | *(outbuffer + offset + 7) = (u_contact_surface_layer.base >> (8 * 7)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 101 | offset += sizeof(this->contact_surface_layer); |
garyservin | 0:fd24f7ca9688 | 102 | union { |
garyservin | 0:fd24f7ca9688 | 103 | double real; |
garyservin | 0:fd24f7ca9688 | 104 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 105 | } u_contact_max_correcting_vel; |
garyservin | 0:fd24f7ca9688 | 106 | u_contact_max_correcting_vel.real = this->contact_max_correcting_vel; |
garyservin | 0:fd24f7ca9688 | 107 | *(outbuffer + offset + 0) = (u_contact_max_correcting_vel.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 108 | *(outbuffer + offset + 1) = (u_contact_max_correcting_vel.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 109 | *(outbuffer + offset + 2) = (u_contact_max_correcting_vel.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 110 | *(outbuffer + offset + 3) = (u_contact_max_correcting_vel.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 111 | *(outbuffer + offset + 4) = (u_contact_max_correcting_vel.base >> (8 * 4)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 112 | *(outbuffer + offset + 5) = (u_contact_max_correcting_vel.base >> (8 * 5)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 113 | *(outbuffer + offset + 6) = (u_contact_max_correcting_vel.base >> (8 * 6)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 114 | *(outbuffer + offset + 7) = (u_contact_max_correcting_vel.base >> (8 * 7)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 115 | offset += sizeof(this->contact_max_correcting_vel); |
garyservin | 0:fd24f7ca9688 | 116 | union { |
garyservin | 0:fd24f7ca9688 | 117 | double real; |
garyservin | 0:fd24f7ca9688 | 118 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 119 | } u_cfm; |
garyservin | 0:fd24f7ca9688 | 120 | u_cfm.real = this->cfm; |
garyservin | 0:fd24f7ca9688 | 121 | *(outbuffer + offset + 0) = (u_cfm.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 122 | *(outbuffer + offset + 1) = (u_cfm.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 123 | *(outbuffer + offset + 2) = (u_cfm.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 124 | *(outbuffer + offset + 3) = (u_cfm.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 125 | *(outbuffer + offset + 4) = (u_cfm.base >> (8 * 4)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 126 | *(outbuffer + offset + 5) = (u_cfm.base >> (8 * 5)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 127 | *(outbuffer + offset + 6) = (u_cfm.base >> (8 * 6)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 128 | *(outbuffer + offset + 7) = (u_cfm.base >> (8 * 7)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 129 | offset += sizeof(this->cfm); |
garyservin | 0:fd24f7ca9688 | 130 | union { |
garyservin | 0:fd24f7ca9688 | 131 | double real; |
garyservin | 0:fd24f7ca9688 | 132 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 133 | } u_erp; |
garyservin | 0:fd24f7ca9688 | 134 | u_erp.real = this->erp; |
garyservin | 0:fd24f7ca9688 | 135 | *(outbuffer + offset + 0) = (u_erp.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 136 | *(outbuffer + offset + 1) = (u_erp.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 137 | *(outbuffer + offset + 2) = (u_erp.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 138 | *(outbuffer + offset + 3) = (u_erp.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 139 | *(outbuffer + offset + 4) = (u_erp.base >> (8 * 4)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 140 | *(outbuffer + offset + 5) = (u_erp.base >> (8 * 5)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 141 | *(outbuffer + offset + 6) = (u_erp.base >> (8 * 6)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 142 | *(outbuffer + offset + 7) = (u_erp.base >> (8 * 7)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 143 | offset += sizeof(this->erp); |
garyservin | 0:fd24f7ca9688 | 144 | *(outbuffer + offset + 0) = (this->max_contacts >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 145 | *(outbuffer + offset + 1) = (this->max_contacts >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 146 | *(outbuffer + offset + 2) = (this->max_contacts >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 147 | *(outbuffer + offset + 3) = (this->max_contacts >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 148 | offset += sizeof(this->max_contacts); |
garyservin | 0:fd24f7ca9688 | 149 | return offset; |
garyservin | 0:fd24f7ca9688 | 150 | } |
garyservin | 0:fd24f7ca9688 | 151 | |
garyservin | 0:fd24f7ca9688 | 152 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:fd24f7ca9688 | 153 | { |
garyservin | 0:fd24f7ca9688 | 154 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 155 | union { |
garyservin | 0:fd24f7ca9688 | 156 | bool real; |
garyservin | 0:fd24f7ca9688 | 157 | uint8_t base; |
garyservin | 0:fd24f7ca9688 | 158 | } u_auto_disable_bodies; |
garyservin | 0:fd24f7ca9688 | 159 | u_auto_disable_bodies.base = 0; |
garyservin | 0:fd24f7ca9688 | 160 | u_auto_disable_bodies.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 161 | this->auto_disable_bodies = u_auto_disable_bodies.real; |
garyservin | 0:fd24f7ca9688 | 162 | offset += sizeof(this->auto_disable_bodies); |
garyservin | 0:fd24f7ca9688 | 163 | this->sor_pgs_precon_iters = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 164 | this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 165 | this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 166 | this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 167 | offset += sizeof(this->sor_pgs_precon_iters); |
garyservin | 0:fd24f7ca9688 | 168 | this->sor_pgs_iters = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 169 | this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 170 | this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 171 | this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 172 | offset += sizeof(this->sor_pgs_iters); |
garyservin | 0:fd24f7ca9688 | 173 | union { |
garyservin | 0:fd24f7ca9688 | 174 | double real; |
garyservin | 0:fd24f7ca9688 | 175 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 176 | } u_sor_pgs_w; |
garyservin | 0:fd24f7ca9688 | 177 | u_sor_pgs_w.base = 0; |
garyservin | 0:fd24f7ca9688 | 178 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 179 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 180 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 181 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 182 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:fd24f7ca9688 | 183 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:fd24f7ca9688 | 184 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:fd24f7ca9688 | 185 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:fd24f7ca9688 | 186 | this->sor_pgs_w = u_sor_pgs_w.real; |
garyservin | 0:fd24f7ca9688 | 187 | offset += sizeof(this->sor_pgs_w); |
garyservin | 0:fd24f7ca9688 | 188 | union { |
garyservin | 0:fd24f7ca9688 | 189 | double real; |
garyservin | 0:fd24f7ca9688 | 190 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 191 | } u_sor_pgs_rms_error_tol; |
garyservin | 0:fd24f7ca9688 | 192 | u_sor_pgs_rms_error_tol.base = 0; |
garyservin | 0:fd24f7ca9688 | 193 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 194 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 195 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 196 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 197 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:fd24f7ca9688 | 198 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:fd24f7ca9688 | 199 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:fd24f7ca9688 | 200 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:fd24f7ca9688 | 201 | this->sor_pgs_rms_error_tol = u_sor_pgs_rms_error_tol.real; |
garyservin | 0:fd24f7ca9688 | 202 | offset += sizeof(this->sor_pgs_rms_error_tol); |
garyservin | 0:fd24f7ca9688 | 203 | union { |
garyservin | 0:fd24f7ca9688 | 204 | double real; |
garyservin | 0:fd24f7ca9688 | 205 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 206 | } u_contact_surface_layer; |
garyservin | 0:fd24f7ca9688 | 207 | u_contact_surface_layer.base = 0; |
garyservin | 0:fd24f7ca9688 | 208 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 209 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 210 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 211 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 212 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:fd24f7ca9688 | 213 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:fd24f7ca9688 | 214 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:fd24f7ca9688 | 215 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:fd24f7ca9688 | 216 | this->contact_surface_layer = u_contact_surface_layer.real; |
garyservin | 0:fd24f7ca9688 | 217 | offset += sizeof(this->contact_surface_layer); |
garyservin | 0:fd24f7ca9688 | 218 | union { |
garyservin | 0:fd24f7ca9688 | 219 | double real; |
garyservin | 0:fd24f7ca9688 | 220 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 221 | } u_contact_max_correcting_vel; |
garyservin | 0:fd24f7ca9688 | 222 | u_contact_max_correcting_vel.base = 0; |
garyservin | 0:fd24f7ca9688 | 223 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 224 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 225 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 226 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 227 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:fd24f7ca9688 | 228 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:fd24f7ca9688 | 229 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:fd24f7ca9688 | 230 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:fd24f7ca9688 | 231 | this->contact_max_correcting_vel = u_contact_max_correcting_vel.real; |
garyservin | 0:fd24f7ca9688 | 232 | offset += sizeof(this->contact_max_correcting_vel); |
garyservin | 0:fd24f7ca9688 | 233 | union { |
garyservin | 0:fd24f7ca9688 | 234 | double real; |
garyservin | 0:fd24f7ca9688 | 235 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 236 | } u_cfm; |
garyservin | 0:fd24f7ca9688 | 237 | u_cfm.base = 0; |
garyservin | 0:fd24f7ca9688 | 238 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 239 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 240 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 241 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 242 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:fd24f7ca9688 | 243 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:fd24f7ca9688 | 244 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:fd24f7ca9688 | 245 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:fd24f7ca9688 | 246 | this->cfm = u_cfm.real; |
garyservin | 0:fd24f7ca9688 | 247 | offset += sizeof(this->cfm); |
garyservin | 0:fd24f7ca9688 | 248 | union { |
garyservin | 0:fd24f7ca9688 | 249 | double real; |
garyservin | 0:fd24f7ca9688 | 250 | uint64_t base; |
garyservin | 0:fd24f7ca9688 | 251 | } u_erp; |
garyservin | 0:fd24f7ca9688 | 252 | u_erp.base = 0; |
garyservin | 0:fd24f7ca9688 | 253 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 254 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 255 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 256 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 257 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:fd24f7ca9688 | 258 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:fd24f7ca9688 | 259 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:fd24f7ca9688 | 260 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:fd24f7ca9688 | 261 | this->erp = u_erp.real; |
garyservin | 0:fd24f7ca9688 | 262 | offset += sizeof(this->erp); |
garyservin | 0:fd24f7ca9688 | 263 | this->max_contacts = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 264 | this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 265 | this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 266 | this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 267 | offset += sizeof(this->max_contacts); |
garyservin | 0:fd24f7ca9688 | 268 | return offset; |
garyservin | 0:fd24f7ca9688 | 269 | } |
garyservin | 0:fd24f7ca9688 | 270 | |
garyservin | 0:fd24f7ca9688 | 271 | const char * getType(){ return "gazebo_msgs/ODEPhysics"; }; |
garyservin | 0:fd24f7ca9688 | 272 | const char * getMD5(){ return "667d56ddbd547918c32d1934503dc335"; }; |
garyservin | 0:fd24f7ca9688 | 273 | |
garyservin | 0:fd24f7ca9688 | 274 | }; |
garyservin | 0:fd24f7ca9688 | 275 | |
garyservin | 0:fd24f7ca9688 | 276 | } |
garyservin | 0:fd24f7ca9688 | 277 | #endif |