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--- eeros_architecture:hal:config_ros [2017/12/14 17:33] – graf
+++ eeros_architecture:hal:config_ros [2018/01/18 15:54] – external edit 127.0.0.1
@@ Line 11: / Line 11: @@
 | additionalArguments | string | see table below |
+===== 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.
@@ Line 17: / Line 18: @@
 | msgType | string | message type |
 | dataField | string | data member of message |
-| callOne | boolean | ???? |
+| callOne | boolean | newest availabe message is fetched (false), oldest not yet read message is fetched (true) |
 | queueSize | int | size of buffer, default = 1000 |
 | useEerosSystemTime | boolean | use system time or timestamp of message |
@@ Line 26: / Line 27: @@
 </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.
-In table \ref{tableImplementedMsgTypes} are all currently implemented message types and associated data fields.
+^ 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 |
-If your desired message type is not implemented yet, you can easily implement it yourself.
+You can find a complete example, including a *.json file, in the [[getting_started:tutorials:start|]].
-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"),
-		...
-}