eeros_architecture:hal:config_ros
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eeros_architecture:hal:config_ros [2017/12/14 18:34] – [How to Use the] graf | eeros_architecture:hal:config_ros [2023/02/27 14:43] – ursgraf | ||
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As described in [[getting_started: | As described in [[getting_started: | ||
The EEROS HAL digital and analog inputs and outputs can be defined as usual in a JSON file. In this file you specify into which message type these signals get packed. There are hundreds of different message types in ROS and it is possible to create custom types. For this reason, we currently support only a few by default. If one wishes to use other message types, the wrapper library can easily be extended. | The EEROS HAL digital and analog inputs and outputs can be defined as usual in a JSON file. In this file you specify into which message type these signals get packed. There are hundreds of different message types in ROS and it is possible to create custom types. For this reason, we currently support only a few by default. If one wishes to use other message types, the wrapper library can easily be extended. | ||
+ | |||
+ | WARNING The naming of messages changes from ROS1 to ROS2, e.g. | ||
+ | ROS1: std_msgs:: | ||
+ | ROS2: std_msgs:: | ||
The keywords for the EEROS-ROS wrapper library must be set as follows: | The keywords for the EEROS-ROS wrapper library must be set as follows: | ||
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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 | | ||
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You can find a complete example, including a *.json file, in the [[getting_started: | You can find a complete example, including a *.json file, in the [[getting_started: | ||
- | ===== How to Use the ===== | ||
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- | You can now declare \textit{PeripheralInputs} and \textit{PeripheralOutputs}: | ||
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- | <code cpp> | ||
- | PeripheralInput< | ||
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- | PeripheralInput< | ||
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- | PeripheralOutput< | ||
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- | PeripheralOutput< | ||
- | </ | ||
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- | Call the constructor of the peripheral IOs with the \textit{signalID} used in the *.json file | ||
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- | <code cpp> | ||
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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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- | analogIn0(" | ||
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- | digitalIn0(" | ||
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- | analogOut0(" | ||
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- | digitalOut0(" | ||
- | |||
- | ... | ||
- | |||
- | } | ||
- | </ |
eeros_architecture/hal/config_ros.txt · Last modified: 2023/02/27 14:44 by ursgraf