Jacob Hernandez / ros_lib_kinetic

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

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

nav_msgs/SetMap.h@2:9114cc24ddcf, 2017-10-17 (annotated)

Committer:
jacobepfl1692
Date:
Tue Oct 17 18:49:03 2017 +0000
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5 
I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_SERVICE_SetMap_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_SetMap_h
garyservin 0:9e9b7db60fd5 3 #include <stdint.h>
garyservin 0:9e9b7db60fd5 4 #include <string.h>
garyservin 0:9e9b7db60fd5 5 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 6 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 7 #include "nav_msgs/OccupancyGrid.h"
garyservin 0:9e9b7db60fd5 8 #include "geometry_msgs/PoseWithCovarianceStamped.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace nav_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 static const char SETMAP[] = "nav_msgs/SetMap";
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class SetMapRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18 typedef nav_msgs::OccupancyGrid _map_type;
garyservin 0:9e9b7db60fd5 19 _map_type map;
garyservin 0:9e9b7db60fd5 20 typedef geometry_msgs::PoseWithCovarianceStamped _initial_pose_type;
garyservin 0:9e9b7db60fd5 21 _initial_pose_type initial_pose;
garyservin 0:9e9b7db60fd5 22
garyservin 0:9e9b7db60fd5 23 SetMapRequest():
garyservin 0:9e9b7db60fd5 24 map(),
garyservin 0:9e9b7db60fd5 25 initial_pose()
garyservin 0:9e9b7db60fd5 26 {
garyservin 0:9e9b7db60fd5 27 }
garyservin 0:9e9b7db60fd5 28
garyservin 0:9e9b7db60fd5 29 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 30 {
garyservin 0:9e9b7db60fd5 31 int offset = 0;
garyservin 0:9e9b7db60fd5 32 offset += this->map.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 33 offset += this->initial_pose.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 34 return offset;
garyservin 0:9e9b7db60fd5 35 }
garyservin 0:9e9b7db60fd5 36
garyservin 0:9e9b7db60fd5 37 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 38 {
garyservin 0:9e9b7db60fd5 39 int offset = 0;
garyservin 0:9e9b7db60fd5 40 offset += this->map.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 41 offset += this->initial_pose.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 42 return offset;
garyservin 0:9e9b7db60fd5 43 }
garyservin 0:9e9b7db60fd5 44
garyservin 0:9e9b7db60fd5 45 const char * getType(){ return SETMAP; };
garyservin 0:9e9b7db60fd5 46 const char * getMD5(){ return "91149a20d7be299b87c340df8cc94fd4"; };
garyservin 0:9e9b7db60fd5 47
garyservin 0:9e9b7db60fd5 48 };
garyservin 0:9e9b7db60fd5 49
garyservin 0:9e9b7db60fd5 50 class SetMapResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 51 {
garyservin 0:9e9b7db60fd5 52 public:
garyservin 0:9e9b7db60fd5 53 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 54 _success_type success;
garyservin 0:9e9b7db60fd5 55
garyservin 0:9e9b7db60fd5 56 SetMapResponse():
garyservin 0:9e9b7db60fd5 57 success(0)
garyservin 0:9e9b7db60fd5 58 {
garyservin 0:9e9b7db60fd5 59 }
garyservin 0:9e9b7db60fd5 60
garyservin 0:9e9b7db60fd5 61 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 62 {
garyservin 0:9e9b7db60fd5 63 int offset = 0;
garyservin 0:9e9b7db60fd5 64 union {
garyservin 0:9e9b7db60fd5 65 bool real;
garyservin 0:9e9b7db60fd5 66 uint8_t base;
garyservin 0:9e9b7db60fd5 67 } u_success;
garyservin 0:9e9b7db60fd5 68 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 71 return offset;
garyservin 0:9e9b7db60fd5 72 }
garyservin 0:9e9b7db60fd5 73
garyservin 0:9e9b7db60fd5 74 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 75 {
garyservin 0:9e9b7db60fd5 76 int offset = 0;
garyservin 0:9e9b7db60fd5 77 union {
garyservin 0:9e9b7db60fd5 78 bool real;
garyservin 0:9e9b7db60fd5 79 uint8_t base;
garyservin 0:9e9b7db60fd5 80 } u_success;
garyservin 0:9e9b7db60fd5 81 u_success.base = 0;
garyservin 0:9e9b7db60fd5 82 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 83 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 84 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 85 return offset;
garyservin 0:9e9b7db60fd5 86 }
garyservin 0:9e9b7db60fd5 87
garyservin 0:9e9b7db60fd5 88 const char * getType(){ return SETMAP; };
garyservin 0:9e9b7db60fd5 89 const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; };
garyservin 0:9e9b7db60fd5 90
garyservin 0:9e9b7db60fd5 91 };
garyservin 0:9e9b7db60fd5 92
garyservin 0:9e9b7db60fd5 93 class SetMap {
garyservin 0:9e9b7db60fd5 94 public:
garyservin 0:9e9b7db60fd5 95 typedef SetMapRequest Request;
garyservin 0:9e9b7db60fd5 96 typedef SetMapResponse Response;
garyservin 0:9e9b7db60fd5 97 };
garyservin 0:9e9b7db60fd5 98
garyservin 0:9e9b7db60fd5 99 }
garyservin 0:9e9b7db60fd5 100 #endif