eeros_architecture:hal:config_ros
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eeros_architecture:hal:config_ros [2017/12/14 17:59] – graf | eeros_architecture:hal:config_ros [2018/01/18 15:54] – external edit 127.0.0.1 | ||
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| msgType | string | message type | | | msgType | string | message type | | ||
| dataField | string | data member of message | | | 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 | | | queueSize | int | size of buffer, default = 1000 | | ||
| useEerosSystemTime | boolean | use system time or timestamp of message | | | useEerosSystemTime | boolean | use system time or timestamp of message | | ||
Line 47: | Line 47: | ||
| ::: | ::: | range_min | | | ::: | ::: | range_min | | ||
| ::: | ::: | range_max | | | ::: | ::: | range_max | | ||
+ | | DigIn | std_msgs:: | ||
+ | | DigOut | std_msgs:: | ||
+ | You can find a complete example, including a *.json file, in the [[getting_started: | ||
- | DigIn & sensor\_msgs:: | ||
- | DigOut | ||
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- | You can find a complete example, including a *.json file, in the eeros framework (/ | ||
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- | \subsection{How to use} | ||
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- | Refere to the documentation of the EEROS HAL\footnote{http:// | ||
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- | First initialize the HAL in your main function: | ||
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- | \lstset{language=c} | ||
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- | \begin{lstlisting} | ||
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- | ... | ||
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- | int main(int argc, char **argv) { | ||
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- | ... | ||
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- | // HAL | ||
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- | // //////////////////////////////////////////////////////////////////////// | ||
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- | HAL& hal = HAL:: | ||
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- | hal.readConfigFromFile(& | ||
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- | ... | ||
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- | \end{lstlisting} | ||
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- | Add the header file to your control system: | ||
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- | \lstset{language=c} | ||
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- | \begin{lstlisting} | ||
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- | #include < | ||
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- | \end{lstlisting} | ||
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- | You can now declare \textit{PeripheralInputs} and \textit{PeripheralOutputs}: | ||
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- | \lstset{language=c} | ||
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- | \begin{lstlisting} | ||
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- | PeripheralInput< | ||
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- | PeripheralInput< | ||
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- | PeripheralOutput< | ||
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- | PeripheralOutput< | ||
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- | \end{lstlisting} | ||
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- | Call the constructor of the peripheral IOs with the \textit{signalID} used in the *.json file | ||
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- | \begin{lstlisting} | ||
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- | class MyControlSystem { | ||
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- | public: | ||
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- | MyControlSystem(double ts, ros:: | ||
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- | dt(ts), | ||
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- | ... | ||
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- | analogIn0(" | ||
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- | digitalIn0(" | ||
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- | analogOut0(" | ||
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- | digitalOut0(" | ||
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- | ... | ||
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- | } |
eeros_architecture/hal/config_ros.txt · Last modified: 2023/02/27 14:44 by ursgraf