ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: rosserial_mbed_hello_world_publisher_melodic Motortest Nucleo_vr_servo_project NucleoFM ... more
ROSSerial_mbed for Melodic 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_melodic
rosserial_mbed Hello World example for Melodic Morenia distribution
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(); } }
control_msgs/PidState.h
- Committer:
- Gary Servin
- Date:
- 2019-11-08
- Revision:
- 1:da82487f547e
- Parent:
- 0:04ac6be8229a
File content as of revision 1:da82487f547e:
#ifndef _ROS_control_msgs_PidState_h #define _ROS_control_msgs_PidState_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" #include "ros/duration.h" namespace control_msgs { class PidState : public ros::Msg { public: typedef std_msgs::Header _header_type; _header_type header; typedef ros::Duration _timestep_type; _timestep_type timestep; typedef double _error_type; _error_type error; typedef double _error_dot_type; _error_dot_type error_dot; typedef double _p_error_type; _p_error_type p_error; typedef double _i_error_type; _i_error_type i_error; typedef double _d_error_type; _d_error_type d_error; typedef double _p_term_type; _p_term_type p_term; typedef double _i_term_type; _i_term_type i_term; typedef double _d_term_type; _d_term_type d_term; typedef double _i_max_type; _i_max_type i_max; typedef double _i_min_type; _i_min_type i_min; typedef double _output_type; _output_type output; PidState(): header(), timestep(), error(0), error_dot(0), p_error(0), i_error(0), d_error(0), p_term(0), i_term(0), d_term(0), i_max(0), i_min(0), output(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); *(outbuffer + offset + 0) = (this->timestep.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->timestep.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->timestep.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->timestep.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->timestep.sec); *(outbuffer + offset + 0) = (this->timestep.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->timestep.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->timestep.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->timestep.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->timestep.nsec); union { double real; uint64_t base; } u_error; u_error.real = this->error; *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF; offset += sizeof(this->error); union { double real; uint64_t base; } u_error_dot; u_error_dot.real = this->error_dot; *(outbuffer + offset + 0) = (u_error_dot.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_error_dot.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_error_dot.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_error_dot.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_error_dot.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_error_dot.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_error_dot.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_error_dot.base >> (8 * 7)) & 0xFF; offset += sizeof(this->error_dot); union { double real; uint64_t base; } u_p_error; u_p_error.real = this->p_error; *(outbuffer + offset + 0) = (u_p_error.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_p_error.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_p_error.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_p_error.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_p_error.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_p_error.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_p_error.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_p_error.base >> (8 * 7)) & 0xFF; offset += sizeof(this->p_error); union { double real; uint64_t base; } u_i_error; u_i_error.real = this->i_error; *(outbuffer + offset + 0) = (u_i_error.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_i_error.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_i_error.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_i_error.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_i_error.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_i_error.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_i_error.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_i_error.base >> (8 * 7)) & 0xFF; offset += sizeof(this->i_error); union { double real; uint64_t base; } u_d_error; u_d_error.real = this->d_error; *(outbuffer + offset + 0) = (u_d_error.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_d_error.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_d_error.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_d_error.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_d_error.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_d_error.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_d_error.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_d_error.base >> (8 * 7)) & 0xFF; offset += sizeof(this->d_error); union { double real; uint64_t base; } u_p_term; u_p_term.real = this->p_term; *(outbuffer + offset + 0) = (u_p_term.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_p_term.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_p_term.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_p_term.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_p_term.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_p_term.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_p_term.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_p_term.base >> (8 * 7)) & 0xFF; offset += sizeof(this->p_term); union { double real; uint64_t base; } u_i_term; u_i_term.real = this->i_term; *(outbuffer + offset + 0) = (u_i_term.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_i_term.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_i_term.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_i_term.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_i_term.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_i_term.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_i_term.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_i_term.base >> (8 * 7)) & 0xFF; offset += sizeof(this->i_term); union { double real; uint64_t base; } u_d_term; u_d_term.real = this->d_term; *(outbuffer + offset + 0) = (u_d_term.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_d_term.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_d_term.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_d_term.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_d_term.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_d_term.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_d_term.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_d_term.base >> (8 * 7)) & 0xFF; offset += sizeof(this->d_term); union { double real; uint64_t base; } u_i_max; u_i_max.real = this->i_max; *(outbuffer + offset + 0) = (u_i_max.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_i_max.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_i_max.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_i_max.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_i_max.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_i_max.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_i_max.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_i_max.base >> (8 * 7)) & 0xFF; offset += sizeof(this->i_max); union { double real; uint64_t base; } u_i_min; u_i_min.real = this->i_min; *(outbuffer + offset + 0) = (u_i_min.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_i_min.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_i_min.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_i_min.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_i_min.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_i_min.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_i_min.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_i_min.base >> (8 * 7)) & 0xFF; offset += sizeof(this->i_min); union { double real; uint64_t base; } u_output; u_output.real = this->output; *(outbuffer + offset + 0) = (u_output.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_output.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_output.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_output.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_output.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_output.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_output.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_output.base >> (8 * 7)) & 0xFF; offset += sizeof(this->output); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); this->timestep.sec = ((uint32_t) (*(inbuffer + offset))); this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->timestep.sec); this->timestep.nsec = ((uint32_t) (*(inbuffer + offset))); this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->timestep.nsec); union { double real; uint64_t base; } u_error; u_error.base = 0; u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->error = u_error.real; offset += sizeof(this->error); union { double real; uint64_t base; } u_error_dot; u_error_dot.base = 0; u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->error_dot = u_error_dot.real; offset += sizeof(this->error_dot); union { double real; uint64_t base; } u_p_error; u_p_error.base = 0; u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->p_error = u_p_error.real; offset += sizeof(this->p_error); union { double real; uint64_t base; } u_i_error; u_i_error.base = 0; u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->i_error = u_i_error.real; offset += sizeof(this->i_error); union { double real; uint64_t base; } u_d_error; u_d_error.base = 0; u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->d_error = u_d_error.real; offset += sizeof(this->d_error); union { double real; uint64_t base; } u_p_term; u_p_term.base = 0; u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->p_term = u_p_term.real; offset += sizeof(this->p_term); union { double real; uint64_t base; } u_i_term; u_i_term.base = 0; u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->i_term = u_i_term.real; offset += sizeof(this->i_term); union { double real; uint64_t base; } u_d_term; u_d_term.base = 0; u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->d_term = u_d_term.real; offset += sizeof(this->d_term); union { double real; uint64_t base; } u_i_max; u_i_max.base = 0; u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->i_max = u_i_max.real; offset += sizeof(this->i_max); union { double real; uint64_t base; } u_i_min; u_i_min.base = 0; u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->i_min = u_i_min.real; offset += sizeof(this->i_min); union { double real; uint64_t base; } u_output; u_output.base = 0; u_output.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_output.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_output.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_output.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_output.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_output.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_output.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_output.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->output = u_output.real; offset += sizeof(this->output); return offset; } const char * getType(){ return "control_msgs/PidState"; }; const char * getMD5(){ return "b138ec00e886c10e73f27e8712252ea6"; }; }; } #endif