eeros_architecture:hal:config_ros
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eeros_architecture:hal:config_ros [2017/12/14 17:51] – graf | eeros_architecture:hal:config_ros [2017/12/14 18:29] – [Implemented Message Types] graf | ||
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</ | </ | ||
+ | ===== 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:: | ||
+ | | ::: | 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 | | ||
- | 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 | ||
- | |||
- | AnalogIn | ||
- | |||
- | & 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:: | DigIn & sensor\_msgs:: | ||
DigOut | DigOut | ||
- | |||
- | \end{tabular} | ||
- | |||
- | \end{table} | ||
- | |||
- | |||
You can find a complete example, including a *.json file, in the eeros framework (/ | You can find a complete example, including a *.json file, in the eeros framework (/ | ||
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First initialize the HAL in your main function: | First initialize the HAL in your main function: | ||
- | \lstset{language=c} | + | <code cpp> |
- | + | ||
- | \begin{lstlisting} | + | |
... | ... | ||
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... | ... | ||
- | + | </ | |
- | \end{lstlisting} | + | |
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You can now declare \textit{PeripheralInputs} and \textit{PeripheralOutputs}: | You can now declare \textit{PeripheralInputs} and \textit{PeripheralOutputs}: | ||
- | \lstset{language=c} | + | <code cpp> |
- | + | ||
- | \begin{lstlisting} | + | |
PeripheralInput< | PeripheralInput< | ||
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PeripheralOutput< | PeripheralOutput< | ||
- | + | </ | |
- | \end{lstlisting} | + | |
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Call the constructor of the peripheral IOs with the \textit{signalID} used in the *.json file | Call the constructor of the peripheral IOs with the \textit{signalID} used in the *.json file | ||
- | \begin{lstlisting} | + | <code cpp> |
class MyControlSystem { | class MyControlSystem { | ||
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} | } | ||
+ | </ |
eeros_architecture/hal/config_ros.txt · Last modified: 2023/02/27 14:44 by ursgraf