Skip to content

Commit 680a706

Browse files
author
Javier Moreno
committed
Added real aplications demos
1 parent 1d923df commit 680a706

9 files changed

Lines changed: 339 additions & 0 deletions

File tree

‎RAD0_actuator/CMakeLists.txt‎

Lines changed: 25 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,25 @@
1+
cmake_minimum_required(VERSION 3.5)
2+
set(CMAKE_CXX_CLANG_TIDY clang-tidy -checks=*)
3+
project(rad0_actuator)
4+
5+
find_package(ament_cmake REQUIRED)
6+
find_package(rclc QUIET)
7+
find_package(std_msgs REQUIRED)
8+
9+
# Do not compile package if rclcpp is not found
10+
if (NOT rclc_FOUND)
11+
message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
12+
return()
13+
endif()
14+
15+
add_executable(${PROJECT_NAME} main.c)
16+
ament_target_dependencies(${PROJECT_NAME} rclc std_msgs)
17+
18+
install(TARGETS
19+
${PROJECT_NAME}
20+
DESTINATION lib/${PROJECT_NAME}
21+
)
22+
23+
target_link_libraries(${PROJECT_NAME} micrortps_client microcdr)
24+
25+
ament_package()

‎RAD0_actuator/main.c‎

Lines changed: 61 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,61 @@
1+
#include <rclc/rclc.h>
2+
#include <std_msgs/msg/string.h>
3+
#include <std_msgs/msg/int32.h>
4+
#include <std_msgs/msg/u_int32.h>
5+
6+
#include <stdio.h>
7+
8+
static rclc_publisher_t* engine_pub;
9+
static uint32_t engine_power = 100;
10+
11+
void engine_on_message(const void* msgin)
12+
{
13+
14+
const std_msgs__msg__Int32* msg = (const std_msgs__msg__Int32*)msgin;
15+
16+
if (msg->data + engine_power > 0)
17+
{
18+
engine_power += msg->data;
19+
}
20+
else
21+
{
22+
engine_power = 0;
23+
}
24+
25+
// Publish new altitude
26+
std_msgs__msg__UInt32 msg_out;
27+
msg_out.data = engine_power;
28+
rclc_publish(engine_pub, (const void*)&msg_out);
29+
}
30+
31+
int main(int argc, char* argv[])
32+
{
33+
(void)argc;
34+
(void)argv;
35+
36+
rclc_node_t* node = NULL;
37+
rclc_subscription_t* engine_sub = NULL;
38+
39+
40+
41+
rclc_init(0, NULL);
42+
node = rclc_create_node("actuator", "");
43+
engine_sub = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "std_msgs_msg_Int32", engine_on_message, 1, false);
44+
engine_pub = rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, UInt32), "std_msgs_msg_UInt32", 1);
45+
46+
// Publish new altitude
47+
std_msgs__msg__UInt32 msg_out;
48+
msg_out.data = engine_power;
49+
rclc_publish(engine_pub, (const void*)&msg_out);
50+
51+
rclc_spin_node(node);
52+
53+
//if (altitude_sub) rclc_destroy_subscription(altitude_sub);
54+
if (engine_sub) rclc_destroy_subscription(engine_sub);
55+
if (engine_pub) rclc_destroy_publisher(engine_pub);
56+
if (node) rclc_destroy_node(node);
57+
58+
printf("Actuator node closed.\n");
59+
60+
return 0;
61+
}

‎RAD0_actuator/package.xml‎

Lines changed: 16 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,16 @@
1+
<?xml version="1.0"?>
2+
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
3+
<package format="3">
4+
<name>rad0_actuator</name>
5+
<version>0.0.1</version>
6+
<description>Real apliacion demostration. Actuator node</description>
7+
<maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
8+
<license>Apache License 2.0</license>
9+
<buildtool_depend>ament_cmake</buildtool_depend>
10+
<build_depend>rclc</build_depend>
11+
<build_depend>std_msgs</build_depend>
12+
<export>
13+
<build_type>ament_cmake</build_type>
14+
</export>
15+
</package>
16+

‎RAD0_altitude_sensor/CMakeLists.txt‎

Lines changed: 27 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,27 @@
1+
cmake_minimum_required(VERSION 3.5)
2+
set(CMAKE_CXX_CLANG_TIDY clang-tidy -checks=*)
3+
project(rad0_altitude_sensor)
4+
5+
find_package(ament_cmake REQUIRED)
6+
find_package(rclc QUIET)
7+
find_package(std_msgs REQUIRED)
8+
9+
# Do not compile package if rclcpp is not found
10+
if (NOT rclc_FOUND)
11+
message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
12+
return()
13+
endif()
14+
15+
add_executable(${PROJECT_NAME} main.c)
16+
ament_target_dependencies(${PROJECT_NAME} rclc std_msgs)
17+
18+
target_link_libraries(${PROJECT_NAME} m)
19+
20+
install(TARGETS
21+
${PROJECT_NAME}
22+
DESTINATION lib/${PROJECT_NAME}
23+
)
24+
25+
target_link_libraries(${PROJECT_NAME} micrortps_client microcdr)
26+
27+
ament_package()

‎RAD0_altitude_sensor/main.c‎

Lines changed: 53 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,53 @@
1+
#include <rclc/rclc.h>
2+
#include <std_msgs/msg/float64.h>
3+
#include <std_msgs/msg/int32.h>
4+
5+
#include <stdio.h>
6+
#include <math.h>
7+
#include <time.h>
8+
9+
10+
11+
/**
12+
* @brief
13+
*
14+
* @param argc
15+
* @param argv
16+
* @return int
17+
*/
18+
int main(int argc, char *argv[])
19+
{
20+
(void)argc;
21+
(void)argv;
22+
rclc_init(0, NULL);
23+
24+
rclc_node_t* node = NULL;
25+
rclc_publisher_t* publisher = NULL;
26+
27+
node = rclc_create_node("altitude_sensor", "");
28+
publisher = rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float64), "std_msgs_msg_Float64", 1);
29+
30+
31+
double A = 0;
32+
33+
34+
while (rclc_ok())
35+
{
36+
A += 0.0001;
37+
38+
// Publish new altitude
39+
std_msgs__msg__Float64 msg;
40+
msg.data = 500 * sin(A) + 950;
41+
rclc_publish(publisher, (const void*)&msg);
42+
43+
44+
// Spin node
45+
rclc_spin_node_once(node, 0);
46+
}
47+
48+
if (publisher) rclc_destroy_publisher(publisher);
49+
if (node) rclc_destroy_node(node);
50+
51+
printf("altitude sendor closed.\n");
52+
return 0;
53+
}

‎RAD0_altitude_sensor/package.xml‎

Lines changed: 16 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,16 @@
1+
<?xml version="1.0"?>
2+
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
3+
<package format="3">
4+
<name>rad0_altitude_sensor</name>
5+
<version>0.0.1</version>
6+
<description>Real apliacion demostration. Position sensor node</description>
7+
<maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
8+
<license>Apache License 2.0</license>
9+
<buildtool_depend>ament_cmake</buildtool_depend>
10+
<build_depend>rclc</build_depend>
11+
<build_depend>std_msgs</build_depend>
12+
<export>
13+
<build_type>ament_cmake</build_type>
14+
</export>
15+
</package>
16+

‎RAD0_display/CMakeLists.txt‎

Lines changed: 25 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,25 @@
1+
cmake_minimum_required(VERSION 3.5)
2+
set(CMAKE_CXX_CLANG_TIDY clang-tidy -checks=*)
3+
project(rad0_display)
4+
5+
find_package(ament_cmake REQUIRED)
6+
find_package(rclc QUIET)
7+
find_package(std_msgs REQUIRED)
8+
9+
# Do not compile package if rclcpp is not found
10+
if (NOT rclc_FOUND)
11+
message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
12+
return()
13+
endif()
14+
15+
add_executable(${PROJECT_NAME} main.c)
16+
ament_target_dependencies(${PROJECT_NAME} rclc std_msgs)
17+
18+
install(TARGETS
19+
${PROJECT_NAME}
20+
DESTINATION lib/${PROJECT_NAME}
21+
)
22+
23+
target_link_libraries(${PROJECT_NAME} micrortps_client microcdr)
24+
25+
ament_package()

‎RAD0_display/main.c‎

Lines changed: 100 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,100 @@
1+
#include <rclc/rclc.h>
2+
#include <std_msgs/msg/string.h>
3+
#include <std_msgs/msg/float64.h>
4+
#include <std_msgs/msg/int32.h>
5+
#include <std_msgs/msg/u_int32.h>
6+
7+
#include <stdio.h>
8+
9+
10+
static float altitude;
11+
static uint32_t engine_power;
12+
static unsigned it;
13+
static char Alert[200];
14+
15+
/**
16+
* @brief Update screen
17+
*
18+
*/
19+
void UpdateDisplay()
20+
{
21+
printf("\r[received messages: %7u] [Altitude: %8.2f] [Engine power: %8u] [Status: %10s]", it++, altitude, engine_power, Alert);
22+
}
23+
24+
25+
/**
26+
* @brief new alert callback
27+
*
28+
* @param msgin
29+
*/
30+
void on_alert_message(const void* msgin)
31+
{
32+
const std_msgs__msg__String* msg = (const std_msgs__msg__String*)msgin;
33+
strcpy(Alert, msg->data.data);
34+
35+
UpdateDisplay();
36+
}
37+
38+
39+
/**
40+
* @brief new altitude calback
41+
*
42+
* @param msgin
43+
*/
44+
void on_altitude_message(const void* msgin)
45+
{
46+
std_msgs__msg__Float64* msg = (std_msgs__msg__Float64*)msgin;
47+
48+
altitude = msg->data;
49+
UpdateDisplay();
50+
}
51+
52+
/**
53+
* @brief
54+
*
55+
* @param msgin
56+
*/
57+
void on_power_message(const void* msgin)
58+
{
59+
std_msgs__msg__UInt32* msg = (std_msgs__msg__UInt32*)msgin;
60+
61+
engine_power = msg->data;
62+
UpdateDisplay();
63+
}
64+
65+
66+
/**
67+
* @brief Main
68+
*
69+
* @param argc
70+
* @param argv
71+
* @return int
72+
*/
73+
int main(int argc, char *argv[])
74+
{
75+
(void)argc;
76+
(void)argv;
77+
78+
rclc_node_t* node = NULL;
79+
rclc_subscription_t* alert_subscription = NULL;
80+
rclc_subscription_t* altitude_subscription = NULL;
81+
rclc_subscription_t* power_subscription = NULL;
82+
83+
84+
rclc_init(0, NULL);
85+
86+
node = rclc_create_node("display", "");
87+
88+
alert_subscription = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String), "std_msgs_msg_String", on_alert_message, 1, false);
89+
altitude_subscription = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float64), "std_msgs_msg_Float64", on_altitude_message, 1, false);
90+
power_subscription = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, UInt32), "std_msgs_msg_UInt32", on_power_message, 1, false);
91+
92+
rclc_spin_node(node);
93+
94+
if (alert_subscription) rclc_destroy_subscription(alert_subscription);
95+
if (altitude_subscription) rclc_destroy_subscription(altitude_subscription);
96+
if (node) rclc_destroy_node(node);
97+
98+
printf("Display node closed.");
99+
100+
}

‎RAD0_display/package.xml‎

Lines changed: 16 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,16 @@
1+
<?xml version="1.0"?>
2+
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
3+
<package format="3">
4+
<name>rad0_display</name>
5+
<version>0.0.1</version>
6+
<description>Real apliacion demostration. Display on screen any message</description>
7+
<maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
8+
<license>Apache License 2.0</license>
9+
<buildtool_depend>ament_cmake</buildtool_depend>
10+
<build_depend>rclc</build_depend>
11+
<build_depend>std_msgs</build_depend>
12+
<export>
13+
<build_type>ament_cmake</build_type>
14+
</export>
15+
</package>
16+

0 commit comments

Comments
 (0)