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Mathias Haage
GBS
Commits
b929e625
Commit
b929e625
authored
Jul 21, 2015
by
Mathias Haage
Browse files
First commit of GBS ros service
parents
Changes
10
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catkin_ws/src/CMakeLists.txt
0 → 120000
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b929e625
/opt/ros/indigo/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
catkin_ws/src/gbs/CMakeLists.txt
0 → 100644
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b929e625
cmake_minimum_required
(
VERSION 2.8.3
)
project
(
gbs
)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package
(
catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files
(
FILES
GBSCmd.msg
GBSCmdArray.msg
GBSAck.msg
GBSAckArray.msg
)
## Generate services in the 'srv' folder
add_service_files
(
FILES
PostGBSCmdArray.srv
)
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages
(
DEPENDENCIES
std_msgs
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package
(
# INCLUDE_DIRS include
# LIBRARIES gbs
# CATKIN_DEPENDS roscpp rospy std_msgs
CATKIN_DEPENDS message_runtime
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories
(
${
catkin_INCLUDE_DIRS
}
)
## Declare a cpp library
# add_library(gbs
# src/${PROJECT_NAME}/gbs.cpp
# )
## Declare a cpp executable
# add_executable(gbs_node src/gbs_node.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(gbs_node gbs_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(gbs_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS gbs gbs_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_gbs.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
catkin_ws/src/gbs/msg/GBSAck.msg
0 → 100644
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b929e625
float32[30] array
catkin_ws/src/gbs/msg/GBSAckArray.msg
0 → 100644
View file @
b929e625
int32[200] n
GBSAck[200] ack1
GBSAck[200] ack2
catkin_ws/src/gbs/msg/GBSCmd.msg
0 → 100644
View file @
b929e625
float32[30] array
catkin_ws/src/gbs/msg/GBSCmdArray.msg
0 → 100644
View file @
b929e625
int32 n
GBSCmd[200] cmd
catkin_ws/src/gbs/package.xml
0 → 100644
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b929e625
<?xml version="1.0"?>
<package>
<name>
gbs
</name>
<version>
0.0.0
</version>
<description>
The gbs package
</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer
email=
"mathias.haage@cs.lth.se"
>
mathias
</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>
LGPLv2.1
</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/gbs</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<build_depend>
message_generation
</build_depend>
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<run_depend>
message_runtime
</run_depend>
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>
catkin
</buildtool_depend>
<build_depend>
roscpp
</build_depend>
<build_depend>
rospy
</build_depend>
<build_depend>
std_msgs
</build_depend>
<run_depend>
roscpp
</run_depend>
<run_depend>
rospy
</run_depend>
<run_depend>
std_msgs
</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
catkin_ws/src/gbs/scripts/post_gbs_cmdarray.py
0 → 100755
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b929e625
#!/usr/bin/env python
from
gbs.srv
import
*
import
rospy
def
near
(
t
,
n
):
return
n
-
0.01
<
t
and
t
<
n
+
0.01
def
prettyprint
(
array
):
for
i
in
range
(
array
.
n
):
c0
=
array
.
cmd
[
i
].
array
[
0
]
c1
=
array
.
cmd
[
i
].
array
[
1
]
c2
=
array
.
cmd
[
i
].
array
[
2
]
if
near
(
c0
,
10
)
and
near
(
c1
,
1
)
and
near
(
c2
,
1
):
x
=
array
.
cmd
[
i
].
array
[
3
]
y
=
array
.
cmd
[
i
].
array
[
4
]
z
=
array
.
cmd
[
i
].
array
[
5
]
a
=
array
.
cmd
[
i
].
array
[
6
]
b
=
array
.
cmd
[
i
].
array
[
7
]
c
=
array
.
cmd
[
i
].
array
[
8
]
s
=
array
.
cmd
[
i
].
array
[
9
]
ac
=
array
.
cmd
[
i
].
array
[
10
]
print
"linmove x=%f y=%f z=%f a=%f b=%f c=%f s=%f ac=%f"
%
(
x
,
y
,
z
,
a
,
b
,
c
,
s
,
ac
)
else
:
print
"Unknown GBS command %f %f %f"
%
(
c0
,
c1
,
c2
)
def
handle_post_gbs_cmdarray
(
req
):
print
"Received an GBS array"
prettyprint
(
req
.
array
)
return
PostGBSCmdArrayResponse
()
def
add_post_gbs_cmdarray
():
rospy
.
init_node
(
'post_gbs_cmdarray_server'
)
s
=
rospy
.
Service
(
'post_gbs_cmdarray'
,
PostGBSCmdArray
,
handle_post_gbs_cmdarray
)
print
"Ready to receive GBS arrays"
rospy
.
spin
()
if
__name__
==
"__main__"
:
add_post_gbs_cmdarray
()
catkin_ws/src/gbs/scripts/test_client.py
0 → 100755
View file @
b929e625
#!/usr/bin/env python
import
sys
import
rospy
from
gbs.msg
import
*
from
gbs.srv
import
*
def
linmove
(
cmd
,
x
,
y
,
z
,
a
,
b
,
c
,
s
,
ac
):
cmd
.
array
[
0
]
=
10
;
cmd
.
array
[
1
]
=
1
;
cmd
.
array
[
2
]
=
1
;
cmd
.
array
[
3
]
=
x
;
cmd
.
array
[
4
]
=
y
;
cmd
.
array
[
5
]
=
z
;
cmd
.
array
[
6
]
=
a
;
cmd
.
array
[
7
]
=
b
;
cmd
.
array
[
8
]
=
c
;
cmd
.
array
[
9
]
=
s
;
cmd
.
array
[
10
]
=
ac
;
def
post_gbs_cmdarray_client
():
rospy
.
wait_for_service
(
'post_gbs_cmdarray'
)
try
:
post_gbs_cmdarray
=
rospy
.
ServiceProxy
(
'post_gbs_cmdarray'
,
PostGBSCmdArray
)
array
=
GBSCmdArray
()
array
.
n
=
2
linmove
(
array
.
cmd
[
0
],
10
,
11
,
12
,
35
,
0
,
0
,
10
,
5
)
linmove
(
array
.
cmd
[
1
],
10
,
11
,
12
,
35
,
0
,
0
,
10
,
6
)
resp
=
post_gbs_cmdarray
(
array
)
except
rospy
.
ServiceException
,
e
:
print
"Service call failed: %s"
%
e
def
usage
():
return
"%s"
%
sys
.
argv
[
0
]
if
__name__
==
"__main__"
:
post_gbs_cmdarray_client
()
catkin_ws/src/gbs/srv/PostGBSCmdArray.srv
0 → 100644
View file @
b929e625
GBSCmdArray array
---
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