This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required
Fork of ros_lib_kinetic by
turtlesim/TeleportRelative.h
- Committer:
- jacobepfl1692
- Date:
- 2017-10-17
- Revision:
- 2:9114cc24ddcf
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:9114cc24ddcf:
#ifndef _ROS_SERVICE_TeleportRelative_h #define _ROS_SERVICE_TeleportRelative_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace turtlesim { static const char TELEPORTRELATIVE[] = "turtlesim/TeleportRelative"; class TeleportRelativeRequest : public ros::Msg { public: typedef float _linear_type; _linear_type linear; typedef float _angular_type; _angular_type angular; TeleportRelativeRequest(): linear(0), angular(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; union { float real; uint32_t base; } u_linear; u_linear.real = this->linear; *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF; offset += sizeof(this->linear); union { float real; uint32_t base; } u_angular; u_angular.real = this->angular; *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF; offset += sizeof(this->angular); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; union { float real; uint32_t base; } u_linear; u_linear.base = 0; u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->linear = u_linear.real; offset += sizeof(this->linear); union { float real; uint32_t base; } u_angular; u_angular.base = 0; u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->angular = u_angular.real; offset += sizeof(this->angular); return offset; } const char * getType(){ return TELEPORTRELATIVE; }; const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; }; }; class TeleportRelativeResponse : public ros::Msg { public: TeleportRelativeResponse() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; return offset; } const char * getType(){ return TELEPORTRELATIVE; }; const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; }; class TeleportRelative { public: typedef TeleportRelativeRequest Request; typedef TeleportRelativeResponse Response; }; } #endif