This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.
Dependencies: rosserial_mbed_lib mbed Servo
Diff: tf/tfMessage.h
- Revision:
- 3:dff241b66f84
- Parent:
- 0:06fc856e99ca
diff -r 094e5153a559 -r dff241b66f84 tf/tfMessage.h --- a/tf/tfMessage.h Sun Oct 16 09:33:53 2011 +0000 +++ b/tf/tfMessage.h Sat Nov 12 23:53:04 2011 +0000 @@ -1,10 +1,10 @@ -#ifndef ros_tfMessage_h -#define ros_tfMessage_h +#ifndef _ROS_tf_tfMessage_h +#define _ROS_tf_tfMessage_h #include <stdint.h> #include <string.h> #include <stdlib.h> -#include "../ros/msg.h" +#include "ros/msg.h" #include "geometry_msgs/TransformStamped.h" namespace tf @@ -13,18 +13,18 @@ class tfMessage : public ros::Msg { public: - unsigned char transforms_length; + uint8_t transforms_length; geometry_msgs::TransformStamped st_transforms; geometry_msgs::TransformStamped * transforms; - virtual int serialize(unsigned char *outbuffer) + virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset++) = transforms_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; - for( unsigned char i = 0; i < transforms_length; i++){ + for( uint8_t i = 0; i < transforms_length; i++){ offset += this->transforms[i].serialize(outbuffer + offset); } return offset; @@ -33,12 +33,12 @@ virtual int deserialize(unsigned char *inbuffer) { int offset = 0; - unsigned char transforms_lengthT = *(inbuffer + offset++); + uint8_t transforms_lengthT = *(inbuffer + offset++); if(transforms_lengthT > transforms_length) this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped)); offset += 3; transforms_length = transforms_lengthT; - for( unsigned char i = 0; i < transforms_length; i++){ + for( uint8_t i = 0; i < transforms_length; i++){ offset += this->st_transforms.deserialize(inbuffer + offset); memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped)); } @@ -46,6 +46,7 @@ } virtual const char * getType(){ return "tf/tfMessage"; }; + virtual const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; }; };