This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
Diff: nav_msgs/Odometry.h
- Revision:
- 0:77afd7560544
- Child:
- 1:ff0ec969dad1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/nav_msgs/Odometry.h Fri Aug 19 09:06:30 2011 +0000 @@ -0,0 +1,59 @@ +#ifndef ros_Odometry_h +#define ros_Odometry_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "../ros/msg.h" +#include "std_msgs/Header.h" +#include "geometry_msgs/PoseWithCovariance.h" +#include "geometry_msgs/TwistWithCovariance.h" + +namespace nav_msgs +{ + + class Odometry : public ros::Msg + { + public: + std_msgs::Header header; + char * child_frame_id; + geometry_msgs::PoseWithCovariance pose; + geometry_msgs::TwistWithCovariance twist; + + virtual int serialize(unsigned char *outbuffer) + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + long * length_child_frame_id = (long *)(outbuffer + offset); + *length_child_frame_id = strlen( (const char*) this->child_frame_id); + offset += 4; + memcpy(outbuffer + offset, this->child_frame_id, *length_child_frame_id); + offset += *length_child_frame_id; + offset += this->pose.serialize(outbuffer + offset); + offset += this->twist.serialize(outbuffer + offset); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + uint32_t length_child_frame_id = *(uint32_t *)(inbuffer + offset); + offset += 4; + for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_child_frame_id-1]=0; + this->child_frame_id = (char *)(inbuffer + offset-1); + offset += length_child_frame_id; + offset += this->pose.deserialize(inbuffer + offset); + offset += this->twist.deserialize(inbuffer + offset); + return offset; + } + + virtual const char * getType(){ return "nav_msgs/Odometry"; }; + + }; + +} +#endif \ No newline at end of file