Revision c406f16b
ID | c406f16b21285b126852e134d95e7eb421f6d4a2 |
Child | 0121ead7 |
Created first version of git repository; added libscout and motors packages.
The repository root is the ros directory, which contains the ROS stack for the scout project.
The included files are those that ROS creates with a new stack or package, and those created manually. Files created during compilation are not included.
Please do not commit files that are created during compilation.
scout/CMakeLists.txt | ||
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cmake_minimum_required(VERSION 2.4.6) |
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include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) |
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# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of |
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# directories (or patterns, but directories should suffice) that should |
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# be excluded from the distro. This is not the place to put things that |
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# should be ignored everywhere, like "build" directories; that happens in |
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# rosbuild/rosbuild.cmake. Here should be listed packages that aren't |
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# ready for inclusion in a distro. |
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# |
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# This list is combined with the list in rosbuild/rosbuild.cmake. Note |
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# that CMake 2.6 may be required to ensure that the two lists are combined |
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# properly. CMake 2.4 seems to have unpredictable scoping rules for such |
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# variables. |
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#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental) |
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rosbuild_make_distribution(0.1.0) |
scout/Makefile | ||
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include $(shell rospack find mk)/cmake_stack.mk |
scout/libscout/CMakeLists.txt | ||
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cmake_minimum_required(VERSION 2.4.6) |
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include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) |
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# Set the build type. Options are: |
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# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage |
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# Debug : w/ debug symbols, w/o optimization |
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# Release : w/o debug symbols, w/ optimization |
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# RelWithDebInfo : w/ debug symbols, w/ optimization |
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# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries |
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#set(ROS_BUILD_TYPE RelWithDebInfo) |
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rosbuild_init() |
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#set the default path for built executables to the "bin" directory |
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set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) |
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#set the default path for built libraries to the "lib" directory |
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set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) |
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#uncomment if you have defined messages |
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#rosbuild_genmsg() |
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#uncomment if you have defined services |
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#rosbuild_gensrv() |
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#common commands for building c++ executables and libraries |
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#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) |
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#target_link_libraries(${PROJECT_NAME} another_library) |
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#rosbuild_add_boost_directories() |
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#rosbuild_link_boost(${PROJECT_NAME} thread) |
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#rosbuild_add_executable(example examples/example.cpp) |
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#target_link_libraries(example ${PROJECT_NAME}) |
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rosbuild_add_executable(libscout_node src/libscout.cpp src/libmotors.cpp) |
scout/libscout/Makefile | ||
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include $(shell rospack find mk)/cmake.mk |
scout/libscout/mainpage.dox | ||
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/** |
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\mainpage |
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\htmlinclude manifest.html |
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\b libscout is the primary libarary of the Colony Scout platform. |
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<!-- |
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Provide an overview of your package. |
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--> |
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\section codeapi Code API |
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<!-- |
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Provide links to specific auto-generated API documentation within your |
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package that is of particular interest to a reader. Doxygen will |
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document pretty much every part of your code, so do your best here to |
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point the reader to the actual API. |
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If your codebase is fairly large or has different sets of APIs, you |
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should use the doxygen 'group' tag to keep these APIs together. For |
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example, the roscpp documentation has 'libros' group. |
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--> |
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*/ |
scout/libscout/manifest.xml | ||
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<package> |
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<description brief="libscout"> |
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libscout |
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</description> |
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<author>Ben</author> |
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<license>BSD</license> |
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<review status="unreviewed" notes=""/> |
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<url>http://ros.org/wiki/libscout</url> |
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<depend package="std_msgs"/> |
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<depend package="roscpp"/> |
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<depend package="motors"/> |
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</package> |
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scout/libscout/src/constants.h | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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15 |
* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file constants.h |
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* @brief Contains top level scout library constants |
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* |
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* Contains constants for use in libscout |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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/* Author: Ben Wasserman |
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*/ |
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#ifndef _CONSTANTS_H_ |
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#define _CONSTANTS_H_ |
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#include "ros/ros.h" |
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/* Libscout Defines */ |
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/* Init defines */ |
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const int LIB_ALL = ~0; |
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const int LIB_MOTORS = 0x1; |
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const int LIB_SONAR = 0x2; |
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const int LIB_CLIFFSENSORS = 0x4; |
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const int LIB_HEADLIGHTS = 0x8; |
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/* Status defines */ |
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const int LIB_ERROR = ~0; |
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const int LIB_OK = 0; |
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/* Global objects */ |
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ros::NodeHandle libscout_node; |
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#endif |
scout/libscout/src/libmotors.cpp | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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13 |
* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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15 |
* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file libmotors.cpp |
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* @brief Contains motor declarations and functions |
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* |
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* Contains functions and definitions for the use of |
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* motors |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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/* Author: Ben Wasserman |
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*/ |
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#include "libmotors.h" |
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void libmotors_init(){ |
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set_motors_publisher = libscout_node.advertise<motors::set_motors>("libmotors", 10); |
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query_motors_client = libscout_node.serviceClient<motors::query_motors>("libmotors"); |
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} |
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int motors_set(int speed, int which){ |
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/** \todo Set fields of the message based on params */ |
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if(!ros::ok()){ |
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return LIB_ERROR; |
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} |
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motors::set_motors msg; |
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msg.fl_speed = speed; |
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msg.fr_speed = speed; |
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msg.bl_speed = speed; |
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msg.br_speed = speed; |
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// set_motors_publisher.publish(msg); |
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ros::spinOnce(); |
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return LIB_OK; |
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} |
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int motors_speed_set(int speed, int which){ |
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return LIB_OK; |
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} |
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int motors_query(int which){ |
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motors::query_motors srv; |
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if(query_motors_client.call(srv)){ |
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switch(which){ |
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case MOTOR_FL: |
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return srv.response.fl_speed; |
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case MOTOR_FR: |
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return srv.response.fr_speed; |
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case MOTOR_BL: |
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return srv.response.bl_speed; |
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case MOTOR_BR: |
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return srv.response.br_speed; |
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default:{ |
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ROS_WARN("Bad WHICH in motors_query."); |
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return LIB_ERROR; |
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} |
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} |
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}else{ |
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ROS_ERROR("Failed to call service query_motors"); |
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return LIB_ERROR; |
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} |
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return 0; |
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} |
scout/libscout/src/libmotors.h | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
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13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
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16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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23 |
* OTHER DEALINGS IN THE SOFTWARE. |
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24 |
**/ |
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/** |
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* @file libmotors.h |
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* @brief Contains motor declarations and functions |
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* |
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* Contains functions and definitions for the use of |
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* motors |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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/* Author: Ben Wasserman |
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*/ |
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#include "ros/ros.h" |
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#include "constants.h" |
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#include "motors/query_motors.h" |
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#include "motors/set_motors.h" |
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#ifndef _LIBMOTORS_H_ |
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#define _LIBMOTORS_H_ |
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/* Defines */ |
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const int MOTOR_FL = 0x8; |
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const int MOTOR_FR = 0x4; |
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const int MOTOR_BL = 0x2; |
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const int MOTOR_BR = 0x1; |
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ros::Publisher set_motors_publisher; |
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ros::ServiceClient query_motors_client; |
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void libmotors_init(); |
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int motors_set(int speed, int which); |
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int motors_speed_set(int speed, int which); |
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int motors_query(int which); |
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#endif |
scout/libscout/src/libscout.cpp | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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4 |
* Permission is hereby granted, free of charge, to any person |
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5 |
* obtaining a copy of this software and associated documentation |
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6 |
* files (the "Software"), to deal in the Software without |
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7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
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16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
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24 |
**/ |
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/** |
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* @file libscout.cpp |
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* @brief Contains top level scout library functions |
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* |
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* Contains functions and definitions for the use of |
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* libscout |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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/* Author: Ben Wasserman |
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*/ |
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#include "libscout.h" |
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/** \todo Decide how to call user behaviors |
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* I'm thinking that there be a function call in main that calls the "main" |
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fn in the user behavior. However, their "main" function will not be called |
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main. However, this has to be able to point to different functions by |
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changing as little code in this file as possible. Also, the user behaviors |
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should live in a different directory (possibly a different package). |
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However, this other package should not be executed as a separate node, |
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because that is the job of the libscout node/package to handle all the ROS |
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stuff, and keep it under the lid. The user only has to call normal c |
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functions. I also want to reduce the need to recompile this package when the |
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user behavior, or any other package that works below the surface. |
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**/ |
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int main(int argc, char **argv){ |
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ros::init(argc, argv, "libscout"); |
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init(LIB_ALL); |
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/** \todo remove this test code **/ |
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// motors_set(100, 0); |
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// ROS_INFO("%d", motors_query(0)); |
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return 0; |
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} |
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int init(int modules){ |
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if(modules & LIB_MOTORS){ |
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libmotors_init(); |
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} |
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/** \todo Add other lib inits **/ |
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return 0; |
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} |
scout/libscout/src/libscout.h | ||
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1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
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26 |
|
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27 |
/** |
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28 |
* @file libscout.h |
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29 |
* @brief Contains top level scout library functions |
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30 |
* |
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31 |
* Contains functions and definitions for the use of |
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32 |
* libscout |
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33 |
* |
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34 |
* @author Colony Project, CMU Robotics Club |
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35 |
**/ |
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36 |
|
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/* Author: Ben Wasserman |
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*/ |
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#ifndef _LIBSCOUT_H_ |
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#define _LIBSCOUT_H_ |
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43 |
#include "ros/ros.h" |
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44 |
#include "constants.h" |
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45 |
#include "libmotors.h" |
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46 |
|
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47 |
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/* Libscout functions */ |
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int main(int argc, char **argv); |
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int init(int modules); |
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#endif |
scout/libscout/src/tags | ||
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1 |
LIB_ALL constants.h 47 |
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2 |
LIB_CLIFFSENSORS constants.h 50 |
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LIB_ERROR constants.h 54 |
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4 |
LIB_HEADLIGHTS constants.h 51 |
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5 |
LIB_MOTORS constants.h 48 |
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6 |
LIB_OK constants.h 55 |
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7 |
LIB_SONAR constants.h 49 |
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MOTOR_BL libmotors.h 51 |
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MOTOR_BR libmotors.h 52 |
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MOTOR_FL libmotors.h 49 |
|
11 |
MOTOR_FR libmotors.h 50 |
|
12 |
Mlibscout.cpp libscout.cpp /^int main(int argc, char **argv){$/ |
|
13 |
_CONSTANTS_H_ constants.h 40 |
|
14 |
_LIBMOTORS_H_ libmotors.h 41 |
|
15 |
_LIBSCOUT_H_ libscout.h 41 |
|
16 |
init libscout.cpp /^int init(int modules){$/ |
|
17 |
libmotors_init libmotors.cpp /^void libmotors_init(){$/ |
|
18 |
libscout_node constants.h 58 |
|
19 |
motors_query libmotors.cpp /^int motors_query(char which){$/ |
|
20 |
motors_set libmotors.cpp /^void motors_set(int speed, char which){$/ |
|
21 |
motors_speed_set libmotors.cpp /^void motors_speed_set(int speed, char which){$/ |
|
22 |
query_motors_client libmotors.h 56 |
|
23 |
set_motors_publisher libmotors.h 55 |
scout/motors/CMakeLists.txt | ||
---|---|---|
1 |
cmake_minimum_required(VERSION 2.4.6) |
|
2 |
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) |
|
3 |
|
|
4 |
# Set the build type. Options are: |
|
5 |
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage |
|
6 |
# Debug : w/ debug symbols, w/o optimization |
|
7 |
# Release : w/o debug symbols, w/ optimization |
|
8 |
# RelWithDebInfo : w/ debug symbols, w/ optimization |
|
9 |
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries |
|
10 |
#set(ROS_BUILD_TYPE RelWithDebInfo) |
|
11 |
|
|
12 |
rosbuild_init() |
|
13 |
|
|
14 |
#set the default path for built executables to the "bin" directory |
|
15 |
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) |
|
16 |
#set the default path for built libraries to the "lib" directory |
|
17 |
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) |
|
18 |
|
|
19 |
#uncomment if you have defined messages |
|
20 |
rosbuild_genmsg() |
|
21 |
#uncomment if you have defined services |
|
22 |
rosbuild_gensrv() |
|
23 |
|
|
24 |
#common commands for building c++ executables and libraries |
|
25 |
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) |
|
26 |
#target_link_libraries(${PROJECT_NAME} another_library) |
|
27 |
#rosbuild_add_boost_directories() |
|
28 |
#rosbuild_link_boost(${PROJECT_NAME} thread) |
|
29 |
#rosbuild_add_executable(example examples/example.cpp) |
|
30 |
#target_link_libraries(example ${PROJECT_NAME}) |
|
31 |
|
|
32 |
rosbuild_add_executable(motors_node src/motors.cpp) |
scout/motors/Makefile | ||
---|---|---|
1 |
include $(shell rospack find mk)/cmake.mk |
scout/motors/mainpage.dox | ||
---|---|---|
1 |
/** |
|
2 |
\mainpage |
|
3 |
\htmlinclude manifest.html |
|
4 |
|
|
5 |
\b motors is ... |
|
6 |
|
|
7 |
<!-- |
|
8 |
Provide an overview of your package. |
|
9 |
--> |
|
10 |
|
|
11 |
|
|
12 |
\section codeapi Code API |
|
13 |
|
|
14 |
<!-- |
|
15 |
Provide links to specific auto-generated API documentation within your |
|
16 |
package that is of particular interest to a reader. Doxygen will |
|
17 |
document pretty much every part of your code, so do your best here to |
|
18 |
point the reader to the actual API. |
|
19 |
|
|
20 |
If your codebase is fairly large or has different sets of APIs, you |
|
21 |
should use the doxygen 'group' tag to keep these APIs together. For |
|
22 |
example, the roscpp documentation has 'libros' group. |
|
23 |
--> |
|
24 |
|
|
25 |
|
|
26 |
*/ |
scout/motors/manifest.xml | ||
---|---|---|
1 |
<package> |
|
2 |
<description brief="motors"> |
|
3 |
|
|
4 |
motors |
|
5 |
|
|
6 |
</description> |
|
7 |
<author>Ben</author> |
|
8 |
<license>BSD</license> |
|
9 |
<review status="unreviewed" notes=""/> |
|
10 |
<url>http://ros.org/wiki/motors</url> |
|
11 |
<depend package="roscpp"/> |
|
12 |
<depend package="std_msgs"/> |
|
13 |
|
|
14 |
</package> |
|
15 |
|
|
16 |
|
scout/motors/msg/set_motors.msg | ||
---|---|---|
1 |
Header header |
|
2 |
int8 fl_speed |
|
3 |
int8 fr_speed |
|
4 |
int8 bl_speed |
|
5 |
int8 br_speed |
scout/motors/src/motors.cpp | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file motors.cpp |
|
29 |
* @brief Motors |
|
30 |
* |
|
31 |
* Implementation of functions for motor use. |
|
32 |
* |
|
33 |
* @author Colony Project, CMU Robotics Club |
|
34 |
* @author Benjamin Wasserman |
|
35 |
**/ |
|
36 |
|
|
37 |
#include "ros/ros.h" |
|
38 |
#include "motors.h" |
|
39 |
#include <cstdlib> |
|
40 |
|
|
41 |
/** |
|
42 |
* @defgroup motors Motors |
|
43 |
* @brief Functions for using the motors |
|
44 |
* |
|
45 |
* @{ |
|
46 |
**/ |
|
47 |
|
|
48 |
/*! |
|
49 |
* \brief Motors driver. This is a ROS node that controls motor speeds. |
|
50 |
* |
|
51 |
* This is the main function for the motors node. It is run when the node |
|
52 |
* starts and initializes the motors. It then subscribes to the |
|
53 |
* set_motors, and set_motor_speeds topics, and advertises the |
|
54 |
* query_motors service. |
|
55 |
* |
|
56 |
* \param argc The number of command line arguments (should be 1) |
|
57 |
* \param argv The array of command line arguments |
|
58 |
**/ |
|
59 |
int main(int argc, char **argv){ |
|
60 |
/* Initialize in ROS the motors driver node */ |
|
61 |
ros::init(argc, argv, "motors_driver"); |
|
62 |
|
|
63 |
/* Advertise that this serves the query_motors service */ |
|
64 |
ros::NodeHandle n; |
|
65 |
ros::ServiceServer service = n.advertiseService("query_motors", motors_query); |
|
66 |
|
|
67 |
/* Subscribe to the set_motors topic */ |
|
68 |
ros::Subscriber sub0 = n.subscribe("set_motors", 4, motors_set); |
|
69 |
|
|
70 |
/* Initialize hardware for motors */ |
|
71 |
// Hardware init functions here |
|
72 |
|
|
73 |
ROS_INFO("Ready to set motors."); |
|
74 |
ros::spin(); |
|
75 |
|
|
76 |
return 0; |
|
77 |
} |
|
78 |
|
|
79 |
/*! |
|
80 |
* \brief Sets motor speed |
|
81 |
* |
|
82 |
* Sets the motor speeds based on subscription to the set_motors topic. |
|
83 |
* |
|
84 |
* \param msg The message from the set_motors topic, containing speeds and |
|
85 |
* motor configuration settings. |
|
86 |
*/ |
|
87 |
void motors_set(const motors::set_motors::ConstPtr& msg){ |
|
88 |
/** \todo Edit to only set requested motors, not all */ |
|
89 |
motor_fl_speed = msg->fl_speed; |
|
90 |
motor_fr_speed = msg->fr_speed; |
|
91 |
motor_bl_speed = msg->bl_speed; |
|
92 |
motor_br_speed = msg->br_speed; |
|
93 |
} |
|
94 |
|
|
95 |
/*! |
|
96 |
* \brief Outputs current motor speeds |
|
97 |
* |
|
98 |
* Serves the service query_motors by responding to service requests with the |
|
99 |
* speeds of the motors. |
|
100 |
* \param req The request. Should be empty. |
|
101 |
* \param res The response. The fields will be filled with values. |
|
102 |
*/ |
|
103 |
bool motors_query(motors::query_motors::Request &req, |
|
104 |
motors::query_motors::Response &res){ |
|
105 |
|
|
106 |
res.fl_speed = motor_fl_speed; |
|
107 |
res.fr_speed = motor_fr_speed; |
|
108 |
res.bl_speed = motor_bl_speed; |
|
109 |
res.br_speed = motor_br_speed; |
|
110 |
|
|
111 |
ROS_INFO("Motor speeds queried"); |
|
112 |
return true; |
|
113 |
} |
|
114 |
|
|
115 |
|
|
116 |
/** |
|
117 |
* } |
|
118 |
**/ |
scout/motors/src/motors.h | ||
---|---|---|
1 |
/** |
|
2 |
*Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file motors.h |
|
29 |
* @brief Contains motor declarations and functions |
|
30 |
* |
|
31 |
* Contains functions and definitions for the use of |
|
32 |
* motors |
|
33 |
* |
|
34 |
* @author Colony Project, CMU Robotics Club |
|
35 |
**/ |
|
36 |
|
|
37 |
/* Author: Ben Wasserman |
|
38 |
*/ |
|
39 |
|
|
40 |
#ifndef _MOTORS_H_ |
|
41 |
#define _MOTORS_H_ |
|
42 |
|
|
43 |
#include "motors/query_motors.h" |
|
44 |
#include "motors/set_motors.h" |
|
45 |
|
|
46 |
/* Motor state variables */ |
|
47 |
int motor_fl_speed; /**< The current speed of the front left motor. */ |
|
48 |
int motor_fr_speed; /**< The current speed of the front right motor. */ |
|
49 |
int motor_bl_speed; /**< The current speed of the back left motor. */ |
|
50 |
int motor_br_speed; /**< The current speed of the back right motor. */ |
|
51 |
|
|
52 |
/** @brief Initialize the motors module and driver **/ |
|
53 |
int main(int argc, char **argv); |
|
54 |
/** @brief Responds to topic to set motor speeds and configs **/ |
|
55 |
void motors_set(const motors::set_motors::ConstPtr& msg); |
|
56 |
/** @brief Responds to service to query motor speeds **/ |
|
57 |
bool motors_query(motors::query_motors::Request &req, |
|
58 |
motors::query_motors::Response &res); |
|
59 |
|
|
60 |
#endif |
scout/motors/srv/query_motors.srv | ||
---|---|---|
1 |
--- |
|
2 |
int8 fl_speed |
|
3 |
int8 fr_speed |
|
4 |
int8 bl_speed |
|
5 |
int8 br_speed |
scout/stack.xml | ||
---|---|---|
1 |
<stack> |
|
2 |
<description brief="scout">scout</description> |
|
3 |
<author>Maintained by Ben</author> |
|
4 |
<license>BSD</license> |
|
5 |
<review status="unreviewed" notes=""/> |
|
6 |
<url>http://ros.org/wiki/scout</url> |
|
7 |
<depend stack="ros" /> |
|
8 |
|
|
9 |
</stack> |
Also available in: Unified diff