Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
Odometry.h
00001 #ifndef _ROS_nav_msgs_Odometry_h 00002 #define _ROS_nav_msgs_Odometry_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "std_msgs/Header.h" 00009 #include "geometry_msgs/PoseWithCovariance.h" 00010 #include "geometry_msgs/TwistWithCovariance.h" 00011 00012 namespace nav_msgs 00013 { 00014 00015 class Odometry : public ros::Msg 00016 { 00017 public: 00018 typedef std_msgs::Header _header_type; 00019 _header_type header; 00020 typedef const char* _child_frame_id_type; 00021 _child_frame_id_type child_frame_id; 00022 typedef geometry_msgs::PoseWithCovariance _pose_type; 00023 _pose_type pose; 00024 typedef geometry_msgs::TwistWithCovariance _twist_type; 00025 _twist_type twist; 00026 00027 Odometry(): 00028 header(), 00029 child_frame_id(""), 00030 pose(), 00031 twist() 00032 { 00033 } 00034 00035 virtual int serialize(unsigned char *outbuffer) const 00036 { 00037 int offset = 0; 00038 offset += this->header.serialize(outbuffer + offset); 00039 uint32_t length_child_frame_id = strlen(this->child_frame_id); 00040 varToArr(outbuffer + offset, length_child_frame_id); 00041 offset += 4; 00042 memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id); 00043 offset += length_child_frame_id; 00044 offset += this->pose.serialize(outbuffer + offset); 00045 offset += this->twist.serialize(outbuffer + offset); 00046 return offset; 00047 } 00048 00049 virtual int deserialize(unsigned char *inbuffer) 00050 { 00051 int offset = 0; 00052 offset += this->header.deserialize(inbuffer + offset); 00053 uint32_t length_child_frame_id; 00054 arrToVar(length_child_frame_id, (inbuffer + offset)); 00055 offset += 4; 00056 for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){ 00057 inbuffer[k-1]=inbuffer[k]; 00058 } 00059 inbuffer[offset+length_child_frame_id-1]=0; 00060 this->child_frame_id = (char *)(inbuffer + offset-1); 00061 offset += length_child_frame_id; 00062 offset += this->pose.deserialize(inbuffer + offset); 00063 offset += this->twist.deserialize(inbuffer + offset); 00064 return offset; 00065 } 00066 00067 const char * getType(){ return "nav_msgs/Odometry"; }; 00068 const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; }; 00069 00070 }; 00071 00072 } 00073 #endif
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