eeros_architecture:hal:config_ros
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eeros_architecture:hal:config_ros [2017/11/30 19:44] – graf | eeros_architecture:hal:config_ros [2017/12/14 18:00] – graf | ||
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====== Configuration File for ROS ====== | ====== Configuration File for ROS ====== | ||
+ | As described in [[getting_started: | ||
+ | The EEROS HAL digital and analog inputs and outputs can be defined as usual in a JSON file. In this file you specify into which message type these signals get packed. There are hundreds of different message types in ROS and it is possible to create custom types. For this reason, we currently support only a few by default. If one wishes to use other message types, the wrapper library can easily be extended. | ||
+ | |||
+ | The keywords for the EEROS-ROS wrapper library must be set as follows: | ||
^ Keyword ^ Type ^ Remarks ^ | ^ Keyword ^ Type ^ Remarks ^ | ||
- | | deviceX | + | | library |
+ | | devHandle | string | e.g. testNodeHAL, this is the name of the node created by the HAL | | ||
+ | | type | string | e.g. AnalogIn / AnalogOut / DigIn / DigOut | | ||
+ | | additionalArguments | string | see table below | | ||
+ | |||
+ | ===== Additional Arguments ===== | ||
+ | The '' | ||
+ | |||
+ | ^ Keyword ^ Type ^ Remarks ^ | ||
+ | | topic | string | topic to listen or subscribe | | ||
+ | | msgType | string | message type | | ||
+ | | dataField | string | data member of message | | ||
+ | | callOne | boolean | ???? | | ||
+ | | queueSize | int | size of buffer, default = 1000 | | ||
+ | | useEerosSystemTime | boolean | use system time or timestamp of message | | ||
+ | |||
+ | An example for an additional argument could be: | ||
+ | < | ||
+ | " | ||
+ | </ | ||
+ | |||
+ | ===== Implemented Message Types ===== | ||
+ | The table below shows all currently implemented message types and associated data fields. If your desired message type is not implemented yet, you can easily implement it yourself, see below. | ||
+ | |||
+ | ^ type ^ msgType ^ dataField ^ | ||
+ | | AnalogIn | std_msgs:: | ||
+ | | ::: | sensor_msgs:: | ||
+ | | ::: | ::: | angle_max | | ||
+ | | ::: | ::: | angle_increment | | ||
+ | | ::: | ::: | time_increment | | ||
+ | | ::: | ::: | scan_time | | ||
+ | | ::: | ::: | range_min | | ||
+ | | ::: | ::: | range_max | | ||
+ | | AnalogOut | std_msgs:: | ||
+ | | ::: | sensor_msgs:: | ||
+ | | ::: | ::: | angle_max | | ||
+ | | ::: | ::: | angle_increment | | ||
+ | | ::: | ::: | time_increment | | ||
+ | | ::: | ::: | scan_time | | ||
+ | | ::: | ::: | range_min | | ||
+ | | ::: | ::: | range_max | | ||
+ | |||
+ | |||
+ | DigIn & sensor\_msgs:: | ||
+ | |||
+ | DigOut | ||
+ | |||
+ | You can find a complete example, including a *.json file, in the eeros framework (/ | ||
+ | |||
+ | |||
+ | |||
+ | |||
+ | |||
+ | \subsection{How to use} | ||
+ | |||
+ | Refere to the documentation of the EEROS HAL\footnote{http:// | ||
+ | |||
+ | |||
+ | |||
+ | First initialize the HAL in your main function: | ||
+ | |||
+ | \lstset{language=c} | ||
+ | |||
+ | \begin{lstlisting} | ||
+ | |||
+ | ... | ||
+ | |||
+ | int main(int argc, char **argv) { | ||
+ | |||
+ | ... | ||
+ | |||
+ | // HAL | ||
+ | |||
+ | // //////////////////////////////////////////////////////////////////////// | ||
+ | |||
+ | HAL& hal = HAL:: | ||
+ | |||
+ | hal.readConfigFromFile(& | ||
+ | |||
+ | ... | ||
+ | |||
+ | \end{lstlisting} | ||
+ | |||
+ | |||
+ | |||
+ | Add the header file to your control system: | ||
+ | |||
+ | \lstset{language=c} | ||
+ | |||
+ | \begin{lstlisting} | ||
+ | |||
+ | #include < | ||
+ | |||
+ | \end{lstlisting} | ||
+ | |||
+ | |||
+ | |||
+ | You can now declare \textit{PeripheralInputs} and \textit{PeripheralOutputs}: | ||
+ | |||
+ | \lstset{language=c} | ||
+ | |||
+ | \begin{lstlisting} | ||
+ | |||
+ | PeripheralInput< | ||
+ | |||
+ | PeripheralInput< | ||
+ | |||
+ | PeripheralOutput< | ||
+ | |||
+ | PeripheralOutput< | ||
+ | |||
+ | \end{lstlisting} | ||
+ | |||
+ | |||
+ | |||
+ | Call the constructor of the peripheral IOs with the \textit{signalID} used in the *.json file | ||
+ | |||
+ | <code cpp> | ||
+ | |||
+ | class MyControlSystem { | ||
+ | |||
+ | public: | ||
+ | |||
+ | MyControlSystem(double ts, ros:: | ||
+ | |||
+ | dt(ts), | ||
+ | |||
+ | ... | ||
+ | |||
+ | analogIn0(" | ||
+ | |||
+ | digitalIn0(" | ||
+ | |||
+ | analogOut0(" | ||
+ | |||
+ | digitalOut0(" | ||
+ | |||
+ | ... | ||
+ | } | ||
+ | </ |
eeros_architecture/hal/config_ros.txt · Last modified: 2023/02/27 14:44 by ursgraf