First commit of GBS ros service

catkin_ws/src/CMakeLists.txt

+/opt/ros/indigo/share/catkin/cmake/toplevel.cmake
\ No newline at end of file

catkin_ws/src/gbs/CMakeLists.txt

+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

+float32[30] array
+

catkin_ws/src/gbs/msg/GBSAckArray.msg

+int32[200] n
+GBSAck[200] ack1
+GBSAck[200] ack2
+

catkin_ws/src/gbs/msg/GBSCmd.msg

+float32[30] array
+

catkin_ws/src/gbs/msg/GBSCmdArray.msg

+int32 n
+GBSCmd[200] cmd
+

catkin_ws/src/gbs/package.xml

+<?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

+#!/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

+#!/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

+GBSCmdArray array
+---
+