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eeros_architecture:hal:config_ros

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eeros_architecture:hal:config_ros [2017/12/14 17:07] – grafeeros_architecture:hal:config_ros [2018/01/18 15:54] – [Additional Arguments] graf
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 | devHandle | string | e.g. testNodeHAL, this is the name of the node created by the HAL | | devHandle | string | e.g. testNodeHAL, this is the name of the node created by the HAL |
 | type | string | e.g. AnalogIn / AnalogOut / DigIn / DigOut | | type | string | e.g. AnalogIn / AnalogOut / DigIn / DigOut |
-| additionalArguments | string | & 'see next table'                      & 'see next table'         \\ \bottomrule +| additionalArguments | string | see table below |
- +
-\end{tabular} +
- +
-\end{table} +
  
 +===== Additional Arguments =====
 +The ''additionalArguments'' are special arguments containing additional information about the communication with a ROS network. The next table shows all currently available arguments. ''topic'' and ''msgType'' are mandatory.
  
 ^ Keyword ^ Type ^ Remarks ^ ^ Keyword ^ Type ^ Remarks ^
- +| topic | string | topic to listen or subscribe | 
-The \textit{additionalArguments} are special arguments which are parsed in the wrapper library \textit{ros-eeros}. +| msgType | string | message type | 
- +| dataField | string | data member of message | 
-These arguments contain additional information which are necessary to communicate with a ROS network. +| callOne | boolean | newest availabe message is fetched (false), oldest not yet read message is fetched (true) | 
- +| queueSize | int | size of buffer, default = 1000 | 
-All arguments are separated with a semicolon. +| useEerosSystemTime | boolean | use system time or timestamp of message |
- +
-The available arguments are listed in table \ref{tableAdditionalArgumentsEeros}. +
- +
  
 An example for an additional argument could be: An example for an additional argument could be:
 +<code>
 +  "additionalArguments": "topic=/testNode/TestTopic3; msgType=sensor_msgs::LaserScan; dataField=scan_time; callOne=false; queueSize=100"
 +</code>
  
 +===== 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::Float64 | - |
 +| ::: | sensor_msgs::LaserScan | angle_min |
 +| ::: | ::: | angle_max |
 +| ::: | ::: | angle_increment |
 +| ::: | ::: | time_increment |
 +| ::: | ::: | scan_time |
 +| ::: | ::: | range_min |
 +| ::: | ::: | range_max |
 +| AnalogOut | std_msgs::Float64 | - |
 +| ::: | sensor_msgs::LaserScan | angle_min |
 +| ::: | ::: | angle_max |
 +| ::: | ::: | angle_increment |
 +| ::: | ::: | time_increment |
 +| ::: | ::: | scan_time |
 +| ::: | ::: | range_min |
 +| ::: | ::: | range_max |
 +| DigIn | std_msgs::BatteryState | present |
 +| DigOut | std_msgs::BatteryState | present |
  
-\begin{snugshade*} +You can find a complete example, including a *.json file, in the [[getting_started:tutorials:start|]].
- +
-\textit{\char"22additionalArguments\char"22: \char"22topic=/testNode/TestTopic3; msgType=sensor\_msgs::LaserScan; \\ +
- +
-dataField=scan\_time; callOne=false; queueSize=100\char"22,} +
- +
-\end{snugshade*} +
- +
- +
- +
- +
- +
-Table \ref{tableAdditionalArgumentsEeros} shows all currently available \textit{additionalArguments}. +
- +
-\textbf{Topic} and \textbf{msgType} are mandatory arguments. +
- +
- +
- +
-\begin{table} +
- +
-\centering +
- +
-\caption{Additional arguments specific for ros-eeros} +
- +
-\label{tableAdditionalArgumentsEeros} +
- +
-\begin{tabular}{@{}lll@{}} +
- +
-\toprule +
- +
-Key        & Typical value           & Description                                \\ \midrule +
- +
-\textbf{topic}      & /testNode/TestTopic1    & Topic to listen / subscribe                \\ +
- +
-\textbf{msgType }   & sensor\_msgs::LaserScan & ROS message type of topic                  \\  +
- +
-dataField & scan\_time              & Desired data member of message             \\ +
- +
-callOne    & true                    & Oldest, not yet fetched message is fetched \\ +
- +
-callOne    & false                   & Newest available message is fetched        \\ +
- +
-queueSize  & 1000                    & Size of buffer; queueSize=1000 if omitted  \\  +
- +
-useEerosSystemTime  & fals           & Use system time or timestamp of received msg  \\ \bottomrule +
- +
-\end{tabular} +
- +
-\end{table} +
- +
- +
- +
-In table \ref{tableImplementedMsgTypes} are 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 chapter \ref{sectionImplementMsgType} for a guide to implement additional message types and data fields in \textit{ros-eeros}. +
- +
- +
- +
-\begin{table}[] +
- +
-\centering +
- +
-\caption{Currently implemented message types in ros-eeros} +
- +
-\label{tableImplementedMsgTypes} +
- +
-\begin{tabular}{lll} +
- +
-\cline{2-3} +
- +
-HAL type  & msgType                    & dataField        \\ \cline{2-3}  +
- +
-AnalogIn  & std\_msgs::Float64         & -                \\ +
- +
-          & sensor\_msgs::LaserScan    & angle\_min       \\ +
- +
-          &                            & angle\_max       \\ +
- +
-          &                            & angle\_increment \\ +
- +
-          &                            & time\_increment  \\ +
- +
-          &                            & scan\_time       \\ +
- +
-          &                            & range\_min       \\ +
- +
-          &                            & range\_max       \\ +
- +
-AnalogOut & std\_msgs::Float64         & -                \\ +
- +
-          & sensor\_msgs::LaserScan    & angle\_min       \\ +
- +
-          &                            & angle\_max       \\ +
- +
-          &                            & angle\_increment \\ +
- +
-          &                            & time\_increment  \\ +
- +
-          &                            & scan\_time       \\ +
- +
-          &                            & range\_min       \\ +
- +
-          &                            & range\_max       \\ +
- +
-DigIn     & sensor\_msgs::BatteryState & present          \\ +
- +
-DigOut    & sensor\_msgs::BatteryState & present          \\ \cline{2-3}  +
- +
-\end{tabular} +
- +
-\end{table} +
- +
- +
- +
-You can find a complete example, including a *.json file, in the eeros framework (/examples/hal/Ros*). +
- +
- +
- +
- +
- +
-\subsection{How to use} +
- +
-Refere to the documentation of the EEROS HAL\footnote{http://wiki.eeros.org/eeros\_architecture/hal/start?s[]=hal} and check the example in the eeros framework (/examples/ros). +
- +
- +
- +
-First initialize the HAL in your main function: +
- +
-\lstset{language=c} +
- +
-\begin{lstlisting} +
- +
-... +
- +
-int main(int argc, char **argv) { +
- +
- ... +
- +
- // HAL +
- +
- // //////////////////////////////////////////////////////////////////////// +
- +
- HAL& hal = HAL::instance(); +
- +
- hal.readConfigFromFile(&argc, argv); +
- +
- ... +
- +
-\end{lstlisting} +
- +
- +
- +
-Add the header file to your control system: +
- +
-\lstset{language=c} +
- +
-\begin{lstlisting} +
- +
-#include <eeros/hal/HAL.hpp> +
- +
-\end{lstlisting} +
- +
- +
- +
-You can now declare \textit{PeripheralInputs} and \textit{PeripheralOutputs}: +
- +
-\lstset{language=c} +
- +
-\begin{lstlisting} +
- +
- PeripheralInput<double> analogIn0; +
- +
- PeripheralInput<bool> digitalIn0; +
- +
- PeripheralOutput<double> analogOut0; +
- +
- PeripheralOutput<bool> digitalOut0; +
- +
-\end{lstlisting} +
- +
- +
- +
-Call the constructor of the peripheral IOs with the \textit{signalID} used in the *.json file +
- +
-\begin{lstlisting} +
- +
-class MyControlSystem { +
- +
-public: +
- +
- MyControlSystem(double ts, ros::NodeHandle& rosNodeHandler): +
- +
- dt(ts), +
- +
- ... +
- +
- analogIn0("scanTimeIn0"), // argument has to match signalId of json +
- +
- digitalIn0("batteryPresent0"), +
- +
- analogOut0("scanTimeEchoOut0"), +
- +
- digitalOut0("batteryPresentEchoOut0"),+
  
- ... 
  
-} 
eeros_architecture/hal/config_ros.txt · Last modified: 2023/02/27 14:44 by ursgraf