Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
Floats.h
00001 #ifndef _ROS_rospy_tutorials_Floats_h 00002 #define _ROS_rospy_tutorials_Floats_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 00009 namespace rospy_tutorials 00010 { 00011 00012 class Floats : public ros::Msg 00013 { 00014 public: 00015 uint32_t data_length; 00016 typedef float _data_type; 00017 _data_type st_data; 00018 _data_type * data; 00019 00020 Floats(): 00021 data_length(0), data(NULL) 00022 { 00023 } 00024 00025 virtual int serialize(unsigned char *outbuffer) const 00026 { 00027 int offset = 0; 00028 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF; 00029 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF; 00030 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF; 00031 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF; 00032 offset += sizeof(this->data_length); 00033 for( uint32_t i = 0; i < data_length; i++){ 00034 union { 00035 float real; 00036 uint32_t base; 00037 } u_datai; 00038 u_datai.real = this->data[i]; 00039 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; 00040 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF; 00041 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF; 00042 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF; 00043 offset += sizeof(this->data[i]); 00044 } 00045 return offset; 00046 } 00047 00048 virtual int deserialize(unsigned char *inbuffer) 00049 { 00050 int offset = 0; 00051 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 00052 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00053 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00054 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00055 offset += sizeof(this->data_length); 00056 if(data_lengthT > data_length) 00057 this->data = (float*)realloc(this->data, data_lengthT * sizeof(float)); 00058 data_length = data_lengthT; 00059 for( uint32_t i = 0; i < data_length; i++){ 00060 union { 00061 float real; 00062 uint32_t base; 00063 } u_st_data; 00064 u_st_data.base = 0; 00065 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00066 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00067 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00068 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00069 this->st_data = u_st_data.real; 00070 offset += sizeof(this->st_data); 00071 memcpy( &(this->data[i]), &(this->st_data), sizeof(float)); 00072 } 00073 return offset; 00074 } 00075 00076 const char * getType(){ return "rospy_tutorials/Floats"; }; 00077 const char * getMD5(){ return "420cd38b6b071cd49f2970c3e2cee511"; }; 00078 00079 }; 00080 00081 } 00082 #endif
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