Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
nav_msgs/Odometry.h@2:5d429be7d0aa, 2020-11-02 (annotated)
- Committer:
- sgrsn
- Date:
- Mon Nov 02 09:00:01 2020 +0000
- Revision:
- 2:5d429be7d0aa
- Parent:
- 0:04ac6be8229a
Change INPUT_SIZE and OUTPUT_SIZE on node_handle.h to pub sub
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gary Servin |
0:04ac6be8229a | 1 | #ifndef _ROS_nav_msgs_Odometry_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_nav_msgs_Odometry_h |
Gary Servin |
0:04ac6be8229a | 3 | |
Gary Servin |
0:04ac6be8229a | 4 | #include <stdint.h> |
Gary Servin |
0:04ac6be8229a | 5 | #include <string.h> |
Gary Servin |
0:04ac6be8229a | 6 | #include <stdlib.h> |
Gary Servin |
0:04ac6be8229a | 7 | #include "ros/msg.h" |
Gary Servin |
0:04ac6be8229a | 8 | #include "std_msgs/Header.h" |
Gary Servin |
0:04ac6be8229a | 9 | #include "geometry_msgs/PoseWithCovariance.h" |
Gary Servin |
0:04ac6be8229a | 10 | #include "geometry_msgs/TwistWithCovariance.h" |
Gary Servin |
0:04ac6be8229a | 11 | |
Gary Servin |
0:04ac6be8229a | 12 | namespace nav_msgs |
Gary Servin |
0:04ac6be8229a | 13 | { |
Gary Servin |
0:04ac6be8229a | 14 | |
Gary Servin |
0:04ac6be8229a | 15 | class Odometry : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 16 | { |
Gary Servin |
0:04ac6be8229a | 17 | public: |
Gary Servin |
0:04ac6be8229a | 18 | typedef std_msgs::Header _header_type; |
Gary Servin |
0:04ac6be8229a | 19 | _header_type header; |
Gary Servin |
0:04ac6be8229a | 20 | typedef const char* _child_frame_id_type; |
Gary Servin |
0:04ac6be8229a | 21 | _child_frame_id_type child_frame_id; |
Gary Servin |
0:04ac6be8229a | 22 | typedef geometry_msgs::PoseWithCovariance _pose_type; |
Gary Servin |
0:04ac6be8229a | 23 | _pose_type pose; |
Gary Servin |
0:04ac6be8229a | 24 | typedef geometry_msgs::TwistWithCovariance _twist_type; |
Gary Servin |
0:04ac6be8229a | 25 | _twist_type twist; |
Gary Servin |
0:04ac6be8229a | 26 | |
Gary Servin |
0:04ac6be8229a | 27 | Odometry(): |
Gary Servin |
0:04ac6be8229a | 28 | header(), |
Gary Servin |
0:04ac6be8229a | 29 | child_frame_id(""), |
Gary Servin |
0:04ac6be8229a | 30 | pose(), |
Gary Servin |
0:04ac6be8229a | 31 | twist() |
Gary Servin |
0:04ac6be8229a | 32 | { |
Gary Servin |
0:04ac6be8229a | 33 | } |
Gary Servin |
0:04ac6be8229a | 34 | |
Gary Servin |
0:04ac6be8229a | 35 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 36 | { |
Gary Servin |
0:04ac6be8229a | 37 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 38 | offset += this->header.serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 39 | uint32_t length_child_frame_id = strlen(this->child_frame_id); |
Gary Servin |
0:04ac6be8229a | 40 | varToArr(outbuffer + offset, length_child_frame_id); |
Gary Servin |
0:04ac6be8229a | 41 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 42 | memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id); |
Gary Servin |
0:04ac6be8229a | 43 | offset += length_child_frame_id; |
Gary Servin |
0:04ac6be8229a | 44 | offset += this->pose.serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 45 | offset += this->twist.serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 46 | return offset; |
Gary Servin |
0:04ac6be8229a | 47 | } |
Gary Servin |
0:04ac6be8229a | 48 | |
Gary Servin |
0:04ac6be8229a | 49 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 50 | { |
Gary Servin |
0:04ac6be8229a | 51 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 52 | offset += this->header.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 53 | uint32_t length_child_frame_id; |
Gary Servin |
0:04ac6be8229a | 54 | arrToVar(length_child_frame_id, (inbuffer + offset)); |
Gary Servin |
0:04ac6be8229a | 55 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 56 | for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){ |
Gary Servin |
0:04ac6be8229a | 57 | inbuffer[k-1]=inbuffer[k]; |
Gary Servin |
0:04ac6be8229a | 58 | } |
Gary Servin |
0:04ac6be8229a | 59 | inbuffer[offset+length_child_frame_id-1]=0; |
Gary Servin |
0:04ac6be8229a | 60 | this->child_frame_id = (char *)(inbuffer + offset-1); |
Gary Servin |
0:04ac6be8229a | 61 | offset += length_child_frame_id; |
Gary Servin |
0:04ac6be8229a | 62 | offset += this->pose.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 63 | offset += this->twist.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 64 | return offset; |
Gary Servin |
0:04ac6be8229a | 65 | } |
Gary Servin |
0:04ac6be8229a | 66 | |
Gary Servin |
0:04ac6be8229a | 67 | const char * getType(){ return "nav_msgs/Odometry"; }; |
Gary Servin |
0:04ac6be8229a | 68 | const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; }; |
Gary Servin |
0:04ac6be8229a | 69 | |
Gary Servin |
0:04ac6be8229a | 70 | }; |
Gary Servin |
0:04ac6be8229a | 71 | |
Gary Servin |
0:04ac6be8229a | 72 | } |
Gary Servin |
0:04ac6be8229a | 73 | #endif |