Revision 2:65cba0dcf634, committed 2022-01-27

Comitter:

gosari

Date:

Thu Jan 27 11:36:16 2022 +0000

Parent:

1:a849bf78d77f

Commit message:

for message communication with mbed

Changed in this revision

diff -r a849bf78d77f -r 65cba0dcf634 hero_msgs/hero_flipper_command.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hero_msgs/hero_flipper_command.h	Thu Jan 27 11:36:16 2022 +0000
@@ -0,0 +1,213 @@
+#ifndef _ROS_hero_msgs_hero_flipper_command_h
+#define _ROS_hero_msgs_hero_flipper_command_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace hero_msgs
+{
+
+  class hero_flipper_command : public ros::Msg
+  {
+    public:
+      typedef uint8_t _RobotMode_type;
+      _RobotMode_type RobotMode;
+      typedef int16_t _SweepA_type;
+      _SweepA_type SweepA;
+      typedef int16_t _SweepB_type;
+      _SweepB_type SweepB;
+      typedef int16_t _WalkDelay_type;
+      _WalkDelay_type WalkDelay;
+      typedef int16_t _WalkWait_type;
+      _WalkWait_type WalkWait;
+      typedef uint8_t _StepCount_type;
+      _StepCount_type StepCount;
+      typedef int16_t _WalkHeading_type;
+      _WalkHeading_type WalkHeading;
+      typedef uint8_t _Amplitude_type;
+      _Amplitude_type Amplitude;
+      typedef float _Period_type;
+      _Period_type Period;
+      typedef uint8_t _iteration_type;
+      _iteration_type iteration;
+      typedef uint8_t _OffsetAngle_type;
+      _OffsetAngle_type OffsetAngle;
+      typedef uint8_t _LegSwingPart_type;
+      _LegSwingPart_type LegSwingPart;
+      typedef uint16_t _LegSwingDelay_type;
+      _LegSwingDelay_type LegSwingDelay;
+
+    hero_flipper_command():
+      RobotMode(0),
+      SweepA(0),
+      SweepB(0),
+      WalkDelay(0),
+      WalkWait(0),
+      StepCount(0),
+      WalkHeading(0),
+      Amplitude(0),
+      Period(0),
+      iteration(0),
+      OffsetAngle(0),
+      LegSwingPart(0),
+      LegSwingDelay(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->RobotMode >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->RobotMode);
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_SweepA;
+      u_SweepA.real = this->SweepA;
+      *(outbuffer + offset + 0) = (u_SweepA.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_SweepA.base >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->SweepA);
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_SweepB;
+      u_SweepB.real = this->SweepB;
+      *(outbuffer + offset + 0) = (u_SweepB.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_SweepB.base >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->SweepB);
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_WalkDelay;
+      u_WalkDelay.real = this->WalkDelay;
+      *(outbuffer + offset + 0) = (u_WalkDelay.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_WalkDelay.base >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->WalkDelay);
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_WalkWait;
+      u_WalkWait.real = this->WalkWait;
+      *(outbuffer + offset + 0) = (u_WalkWait.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_WalkWait.base >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->WalkWait);
+      *(outbuffer + offset + 0) = (this->StepCount >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->StepCount);
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_WalkHeading;
+      u_WalkHeading.real = this->WalkHeading;
+      *(outbuffer + offset + 0) = (u_WalkHeading.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_WalkHeading.base >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->WalkHeading);
+      *(outbuffer + offset + 0) = (this->Amplitude >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->Amplitude);
+      union {
+        float real;
+        uint32_t base;
+      } u_Period;
+      u_Period.real = this->Period;
+      *(outbuffer + offset + 0) = (u_Period.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Period.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Period.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Period.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->Period);
+      *(outbuffer + offset + 0) = (this->iteration >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->iteration);
+      *(outbuffer + offset + 0) = (this->OffsetAngle >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->OffsetAngle);
+      *(outbuffer + offset + 0) = (this->LegSwingPart >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->LegSwingPart);
+      *(outbuffer + offset + 0) = (this->LegSwingDelay >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->LegSwingDelay >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->LegSwingDelay);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->RobotMode =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->RobotMode);
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_SweepA;
+      u_SweepA.base = 0;
+      u_SweepA.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_SweepA.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->SweepA = u_SweepA.real;
+      offset += sizeof(this->SweepA);
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_SweepB;
+      u_SweepB.base = 0;
+      u_SweepB.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_SweepB.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->SweepB = u_SweepB.real;
+      offset += sizeof(this->SweepB);
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_WalkDelay;
+      u_WalkDelay.base = 0;
+      u_WalkDelay.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_WalkDelay.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->WalkDelay = u_WalkDelay.real;
+      offset += sizeof(this->WalkDelay);
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_WalkWait;
+      u_WalkWait.base = 0;
+      u_WalkWait.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_WalkWait.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->WalkWait = u_WalkWait.real;
+      offset += sizeof(this->WalkWait);
+      this->StepCount =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->StepCount);
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_WalkHeading;
+      u_WalkHeading.base = 0;
+      u_WalkHeading.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_WalkHeading.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->WalkHeading = u_WalkHeading.real;
+      offset += sizeof(this->WalkHeading);
+      this->Amplitude =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->Amplitude);
+      union {
+        float real;
+        uint32_t base;
+      } u_Period;
+      u_Period.base = 0;
+      u_Period.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Period.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Period.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Period.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->Period = u_Period.real;
+      offset += sizeof(this->Period);
+      this->iteration =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->iteration);
+      this->OffsetAngle =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->OffsetAngle);
+      this->LegSwingPart =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->LegSwingPart);
+      this->LegSwingDelay =  ((uint16_t) (*(inbuffer + offset)));
+      this->LegSwingDelay |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->LegSwingDelay);
+     return offset;
+    }
+
+    const char * getType(){ return "hero_msgs/hero_flipper_command"; };
+    const char * getMD5(){ return "5fbfca8fff5085fed6726f12aa490760"; };
+
+  };
+
+}
+#endif

diff -r a849bf78d77f -r 65cba0dcf634 hero_msgs/hero_flipper_state.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hero_msgs/hero_flipper_state.h	Thu Jan 27 11:36:16 2022 +0000
@@ -0,0 +1,254 @@
+#ifndef _ROS_hero_msgs_hero_flipper_state_h
+#define _ROS_hero_msgs_hero_flipper_state_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace hero_msgs
+{
+
+  class hero_flipper_state : public ros::Msg
+  {
+    public:
+      typedef float _Depth_type;
+      _Depth_type Depth;
+      typedef float _Roll_type;
+      _Roll_type Roll;
+      typedef float _Pitch_type;
+      _Pitch_type Pitch;
+      typedef float _Yaw_type;
+      _Yaw_type Yaw;
+      typedef float _velBtmX_type;
+      _velBtmX_type velBtmX;
+      typedef float _velBtmY_type;
+      _velBtmY_type velBtmY;
+      typedef float _velBtmZ_type;
+      _velBtmZ_type velBtmZ;
+      typedef float _Altitude_type;
+      _Altitude_type Altitude;
+      typedef float _Checksum_type;
+      _Checksum_type Checksum;
+
+    hero_flipper_state():
+      Depth(0),
+      Roll(0),
+      Pitch(0),
+      Yaw(0),
+      velBtmX(0),
+      velBtmY(0),
+      velBtmZ(0),
+      Altitude(0),
+      Checksum(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_Depth;
+      u_Depth.real = this->Depth;
+      *(outbuffer + offset + 0) = (u_Depth.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Depth.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Depth.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Depth.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->Depth);
+      union {
+        float real;
+        uint32_t base;
+      } u_Roll;
+      u_Roll.real = this->Roll;
+      *(outbuffer + offset + 0) = (u_Roll.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Roll.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Roll.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Roll.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->Roll);
+      union {
+        float real;
+        uint32_t base;
+      } u_Pitch;
+      u_Pitch.real = this->Pitch;
+      *(outbuffer + offset + 0) = (u_Pitch.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Pitch.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Pitch.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Pitch.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->Pitch);
+      union {
+        float real;
+        uint32_t base;
+      } u_Yaw;
+      u_Yaw.real = this->Yaw;
+      *(outbuffer + offset + 0) = (u_Yaw.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Yaw.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Yaw.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Yaw.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->Yaw);
+      union {
+        float real;
+        uint32_t base;
+      } u_velBtmX;
+      u_velBtmX.real = this->velBtmX;
+      *(outbuffer + offset + 0) = (u_velBtmX.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velBtmX.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velBtmX.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velBtmX.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->velBtmX);
+      union {
+        float real;
+        uint32_t base;
+      } u_velBtmY;
+      u_velBtmY.real = this->velBtmY;
+      *(outbuffer + offset + 0) = (u_velBtmY.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velBtmY.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velBtmY.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velBtmY.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->velBtmY);
+      union {
+        float real;
+        uint32_t base;
+      } u_velBtmZ;
+      u_velBtmZ.real = this->velBtmZ;
+      *(outbuffer + offset + 0) = (u_velBtmZ.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velBtmZ.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velBtmZ.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velBtmZ.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->velBtmZ);
+      union {
+        float real;
+        uint32_t base;
+      } u_Altitude;
+      u_Altitude.real = this->Altitude;
+      *(outbuffer + offset + 0) = (u_Altitude.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Altitude.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Altitude.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Altitude.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->Altitude);
+      union {
+        float real;
+        uint32_t base;
+      } u_Checksum;
+      u_Checksum.real = this->Checksum;
+      *(outbuffer + offset + 0) = (u_Checksum.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Checksum.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Checksum.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Checksum.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->Checksum);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_Depth;
+      u_Depth.base = 0;
+      u_Depth.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Depth.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Depth.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Depth.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->Depth = u_Depth.real;
+      offset += sizeof(this->Depth);
+      union {
+        float real;
+        uint32_t base;
+      } u_Roll;
+      u_Roll.base = 0;
+      u_Roll.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Roll.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Roll.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Roll.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->Roll = u_Roll.real;
+      offset += sizeof(this->Roll);
+      union {
+        float real;
+        uint32_t base;
+      } u_Pitch;
+      u_Pitch.base = 0;
+      u_Pitch.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Pitch.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Pitch.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Pitch.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->Pitch = u_Pitch.real;
+      offset += sizeof(this->Pitch);
+      union {
+        float real;
+        uint32_t base;
+      } u_Yaw;
+      u_Yaw.base = 0;
+      u_Yaw.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Yaw.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Yaw.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Yaw.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->Yaw = u_Yaw.real;
+      offset += sizeof(this->Yaw);
+      union {
+        float real;
+        uint32_t base;
+      } u_velBtmX;
+      u_velBtmX.base = 0;
+      u_velBtmX.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_velBtmX.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_velBtmX.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_velBtmX.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->velBtmX = u_velBtmX.real;
+      offset += sizeof(this->velBtmX);
+      union {
+        float real;
+        uint32_t base;
+      } u_velBtmY;
+      u_velBtmY.base = 0;
+      u_velBtmY.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_velBtmY.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_velBtmY.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_velBtmY.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->velBtmY = u_velBtmY.real;
+      offset += sizeof(this->velBtmY);
+      union {
+        float real;
+        uint32_t base;
+      } u_velBtmZ;
+      u_velBtmZ.base = 0;
+      u_velBtmZ.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_velBtmZ.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_velBtmZ.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_velBtmZ.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->velBtmZ = u_velBtmZ.real;
+      offset += sizeof(this->velBtmZ);
+      union {
+        float real;
+        uint32_t base;
+      } u_Altitude;
+      u_Altitude.base = 0;
+      u_Altitude.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Altitude.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Altitude.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Altitude.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->Altitude = u_Altitude.real;
+      offset += sizeof(this->Altitude);
+      union {
+        float real;
+        uint32_t base;
+      } u_Checksum;
+      u_Checksum.base = 0;
+      u_Checksum.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Checksum.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Checksum.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Checksum.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->Checksum = u_Checksum.real;
+      offset += sizeof(this->Checksum);
+     return offset;
+    }
+
+    const char * getType(){ return "hero_msgs/hero_flipper_state"; };
+    const char * getMD5(){ return "3966e56c0419a7687728b66479964a92"; };
+
+  };
+
+}
+#endif
\ No newline at end of file

diff -r a849bf78d77f -r 65cba0dcf634 ros/node_handle.h
--- a/ros/node_handle.h	Sat Dec 31 00:59:58 2016 +0000
+++ b/ros/node_handle.h	Thu Jan 27 11:36:16 2022 +0000
@@ -91,10 +91,10 @@
 
   /* Node Handle */
   template<class Hardware,
-           int MAX_SUBSCRIBERS=25,
-           int MAX_PUBLISHERS=25,
-           int INPUT_SIZE=512,
-           int OUTPUT_SIZE=512>
+           int MAX_SUBSCRIBERS=6, // default: 25, 12 (~22.01.12)
+           int MAX_PUBLISHERS=6, // default: 25, 12 (~22.01.12)
+           int INPUT_SIZE=256, // default: 512, 256 (~22.01.12), 128 (~22.01.26)
+           int OUTPUT_SIZE=256> // default: 512, 256 (~22.01.12), 128 (~22.01.26)
   class NodeHandle_ : public NodeHandleBase_
   {
     protected: