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eeros_architecture:hal:config_ros

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eeros_architecture:hal:config_ros [2017/12/14 17:51] – grafeeros_architecture:hal:config_ros [2017/12/14 18:34] – [How to Use the] graf
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 </code> </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}+
  
 +===== How to Use the  =====
  
  
 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<double> analogIn0;  PeripheralInput<double> analogIn0;
  
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  PeripheralOutput<bool> digitalOut0;  PeripheralOutput<bool> digitalOut0;
- +</code>
-\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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 } }
 +</code>
eeros_architecture/hal/config_ros.txt · Last modified: 2023/02/27 14:44 by ursgraf