Get ROS examples to compile, add simple RC channels message

CMakeLists.txt

@@ -8,6 +8,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
+  message_generation
 )
 
 ## System dependencies are found with CMake's conventions
@@ -44,11 +45,10 @@ find_package(catkin REQUIRED COMPONENTS
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-# add_message_files(
+add_message_files(
-#   FILES
+  FILES
-#   Message1.msg
+  rc_channels.msg
-#   Message2.msg
+)
-# )
 
 ## Generate services in the 'srv' folder
 # add_service_files(
@@ -99,18 +99,30 @@ include_directories(
 
 ## Declare a cpp library
 # add_library(px4
-#   src/${PROJECT_NAME}/px4test.cpp # src/platform/ros/ros.cpp
+#   src/${PROJECT_NAME}/px4test.cpp # src/platforms/ros/ros.cpp
 # )
 
-## Declare a cpp executable
+## Declare a test publisher
-add_executable(rostest_node src/platform/ros/ros.cpp)
+add_executable(publisher src/examples/publisher/publisher.cpp)
 
 ## Add cmake target dependencies of the executable/library
 ## as an example, message headers may need to be generated before nodes
-add_dependencies(rostest_node px4_generate_messages_cpp)
+add_dependencies(publisher px4_generate_messages_cpp)
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(rostest_node
+target_link_libraries(publisher
+  ${catkin_LIBRARIES}
+)
+
+## Declare a test subscriber
+add_executable(subscriber src/examples/subscriber/subscriber.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+add_dependencies(subscriber px4_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(subscriber
   ${catkin_LIBRARIES}
 )
 

msg/rc_channels.msg

@@ -1,8 +1,8 @@
 Header header
 int32 RC_CHANNELS_FUNCTION_MAX=18
 uint64 timestamp_last_valid					# Timestamp of last valid RC signal
-float32 channels[RC_CHANNELS_FUNCTION_MAX]			# Scaled to -1..1 (throttle: 0..1)
+float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
 uint8 channel_count						# Number of valid channels
-int8 function[RC_CHANNELS_FUNCTION_MAX]				# Functions mapping
+int8[18] function						# Functions mapping
 uint8 rssi							# Receive signal strength index
 bool signal_lost						# Control signal lost, should be checked together with topic timeout

src/examples/publisher/publisher.cpp

@@ -0,0 +1,137 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *   * Redistributions of source code must retain the above copyright notice,
+ *     this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above copyright
+ *     notice, this list of conditions and the following disclaimer in the
+ *     documentation and/or other materials provided with the distribution.
+ *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived from
+ *     this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+// %Tag(FULLTEXT)%
+// %Tag(ROS_HEADER)%
+#include "ros/ros.h"
+// %EndTag(ROS_HEADER)%
+// %Tag(MSG_HEADER)%
+#include "std_msgs/String.h"
+// %EndTag(MSG_HEADER)%
+
+#include <sstream>
+
+/**
+ * This tutorial demonstrates simple sending of messages over the ROS system.
+ */
+int main(int argc, char **argv)
+{
+  /**
+   * The ros::init() function needs to see argc and argv so that it can perform
+   * any ROS arguments and name remapping that were provided at the command line. For programmatic
+   * remappings you can use a different version of init() which takes remappings
+   * directly, but for most command-line programs, passing argc and argv is the easiest
+   * way to do it.  The third argument to init() is the name of the node.
+   *
+   * You must call one of the versions of ros::init() before using any other
+   * part of the ROS system.
+   */
+// %Tag(INIT)%
+  ros::init(argc, argv, "talker");
+// %EndTag(INIT)%
+
+  /**
+   * NodeHandle is the main access point to communications with the ROS system.
+   * The first NodeHandle constructed will fully initialize this node, and the last
+   * NodeHandle destructed will close down the node.
+   */
+// %Tag(NODEHANDLE)%
+  ros::NodeHandle n;
+// %EndTag(NODEHANDLE)%
+
+  /**
+   * The advertise() function is how you tell ROS that you want to
+   * publish on a given topic name. This invokes a call to the ROS
+   * master node, which keeps a registry of who is publishing and who
+   * is subscribing. After this advertise() call is made, the master
+   * node will notify anyone who is trying to subscribe to this topic name,
+   * and they will in turn negotiate a peer-to-peer connection with this
+   * node.  advertise() returns a Publisher object which allows you to
+   * publish messages on that topic through a call to publish().  Once
+   * all copies of the returned Publisher object are destroyed, the topic
+   * will be automatically unadvertised.
+   *
+   * The second parameter to advertise() is the size of the message queue
+   * used for publishing messages.  If messages are published more quickly
+   * than we can send them, the number here specifies how many messages to
+   * buffer up before throwing some away.
+   */
+// %Tag(PUBLISHER)%
+  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
+// %EndTag(PUBLISHER)%
+
+// %Tag(LOOP_RATE)%
+  ros::Rate loop_rate(10);
+// %EndTag(LOOP_RATE)%
+
+  /**
+   * A count of how many messages we have sent. This is used to create
+   * a unique string for each message.
+   */
+// %Tag(ROS_OK)%
+  int count = 0;
+  while (ros::ok())
+  {
+// %EndTag(ROS_OK)%
+    /**
+     * This is a message object. You stuff it with data, and then publish it.
+     */
+// %Tag(FILL_MESSAGE)%
+    std_msgs::String msg;
+
+    std::stringstream ss;
+    ss << "hello world " << count;
+    msg.data = ss.str();
+// %EndTag(FILL_MESSAGE)%
+
+// %Tag(ROSCONSOLE)%
+    ROS_INFO("%s", msg.data.c_str());
+// %EndTag(ROSCONSOLE)%
+
+    /**
+     * The publish() function is how you send messages. The parameter
+     * is the message object. The type of this object must agree with the type
+     * given as a template parameter to the advertise<>() call, as was done
+     * in the constructor above.
+     */
+// %Tag(PUBLISH)%
+    chatter_pub.publish(msg);
+// %EndTag(PUBLISH)%
+
+// %Tag(SPINONCE)%
+    ros::spinOnce();
+// %EndTag(SPINONCE)%
+
+// %Tag(RATE_SLEEP)%
+    loop_rate.sleep();
+// %EndTag(RATE_SLEEP)%
+    ++count;
+  }
+
+
+  return 0;
+}
+// %EndTag(FULLTEXT)%

src/examples/subscriber/subscriber.cpp

@@ -0,0 +1,93 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *   * Redistributions of source code must retain the above copyright notice,
+ *     this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above copyright
+ *     notice, this list of conditions and the following disclaimer in the
+ *     documentation and/or other materials provided with the distribution.
+ *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived from
+ *     this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+// %Tag(FULLTEXT)%
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+
+/**
+ * This tutorial demonstrates simple receipt of messages over the ROS system.
+ */
+// %Tag(CALLBACK)%
+void chatterCallback(const std_msgs::String::ConstPtr& msg)
+{
+  ROS_INFO("I heard: [%s]", msg->data.c_str());
+}
+// %EndTag(CALLBACK)%
+
+int main(int argc, char **argv)
+{
+  /**
+   * The ros::init() function needs to see argc and argv so that it can perform
+   * any ROS arguments and name remapping that were provided at the command line. For programmatic
+   * remappings you can use a different version of init() which takes remappings
+   * directly, but for most command-line programs, passing argc and argv is the easiest
+   * way to do it.  The third argument to init() is the name of the node.
+   *
+   * You must call one of the versions of ros::init() before using any other
+   * part of the ROS system.
+   */
+  ros::init(argc, argv, "listener");
+
+  /**
+   * NodeHandle is the main access point to communications with the ROS system.
+   * The first NodeHandle constructed will fully initialize this node, and the last
+   * NodeHandle destructed will close down the node.
+   */
+  ros::NodeHandle n;
+
+  /**
+   * The subscribe() call is how you tell ROS that you want to receive messages
+   * on a given topic.  This invokes a call to the ROS
+   * master node, which keeps a registry of who is publishing and who
+   * is subscribing.  Messages are passed to a callback function, here
+   * called chatterCallback.  subscribe() returns a Subscriber object that you
+   * must hold on to until you want to unsubscribe.  When all copies of the Subscriber
+   * object go out of scope, this callback will automatically be unsubscribed from
+   * this topic.
+   *
+   * The second parameter to the subscribe() function is the size of the message
+   * queue.  If messages are arriving faster than they are being processed, this
+   * is the number of messages that will be buffered up before beginning to throw
+   * away the oldest ones.
+   */
+// %Tag(SUBSCRIBER)%
+  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
+// %EndTag(SUBSCRIBER)%
+
+  /**
+   * ros::spin() will enter a loop, pumping callbacks.  With this version, all
+   * callbacks will be called from within this thread (the main one).  ros::spin()
+   * will exit when Ctrl-C is pressed, or the node is shutdown by the master.
+   */
+// %Tag(SPIN)%
+  ros::spin();
+// %EndTag(SPIN)%
+
+  return 0;
+}
+// %EndTag(FULLTEXT)%