Commit b929e625 authored by Mathias Haage's avatar Mathias Haage

First commit of GBS ros service

parents
/opt/ros/indigo/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
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)
int32[200] n
GBSAck[200] ack1
GBSAck[200] ack2
<?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>
#!/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()
#!/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()
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