ROS Serial library for Mbed platforms for ROS Jade Turtle. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: rosserial_mbed_hello_world_publisher_jade
ROSSerial_mbed for Jade Distribution
The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms.
The rosserial_mbed package allows to write ROS nodes on any mbed enabled devices and have them connected to a running ROS system on your computer using the serial port.
Hello World (example publisher)
Import programrosserial_mbed_hello_world_publisher_jade
rosserial_mbed Hello World example for jade distribution
Running the Code
Now, launch the roscore in a new terminal window:
Quote:
$ roscore
Next, run the rosserial client application that forwards your MBED messages to the rest of ROS. Make sure to use the correct serial port:
Quote:
$ rosrun rosserial_python serial_node.py /dev/ttyACM0
Finally, watch the greetings come in from your MBED by launching a new terminal window and entering :
Quote:
$ rostopic echo chatter
See Also
More examples
Blink
/* * rosserial Subscriber Example * Blinks an LED on callback */ #include "mbed.h" #include <ros.h> #include <std_msgs/Empty.h> ros::NodeHandle nh; DigitalOut myled(LED1); void messageCb(const std_msgs::Empty& toggle_msg){ myled = !myled; // blink the led } ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb); int main() { nh.initNode(); nh.subscribe(sub); while (1) { nh.spinOnce(); wait_ms(1); } }
Push
/* * Button Example for Rosserial */ #include "mbed.h" #include <ros.h> #include <std_msgs/Bool.h> PinName button = p20; ros::NodeHandle nh; std_msgs::Bool pushed_msg; ros::Publisher pub_button("pushed", &pushed_msg); DigitalIn button_pin(button); DigitalOut led_pin(LED1); bool last_reading; long last_debounce_time=0; long debounce_delay=50; bool published = true; Timer t; int main() { t.start(); nh.initNode(); nh.advertise(pub_button); //Enable the pullup resistor on the button button_pin.mode(PullUp); //The button is a normally button last_reading = ! button_pin; while (1) { bool reading = ! button_pin; if (last_reading!= reading) { last_debounce_time = t.read_ms(); published = false; } //if the button value has not changed for the debounce delay, we know its stable if ( !published && (t.read_ms() - last_debounce_time) > debounce_delay) { led_pin = reading; pushed_msg.data = reading; pub_button.publish(&pushed_msg); published = true; } last_reading = reading; nh.spinOnce(); } }
control_msgs/JointControllerState.h@0:a906bb7c7831, 2016-03-31 (annotated)
- Committer:
- garyservin
- Date:
- Thu Mar 31 23:23:15 2016 +0000
- Revision:
- 0:a906bb7c7831
ROS Serial library for Mbed platforms for ROS Jade Turtle. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:a906bb7c7831 | 1 | #ifndef _ROS_control_msgs_JointControllerState_h |
garyservin | 0:a906bb7c7831 | 2 | #define _ROS_control_msgs_JointControllerState_h |
garyservin | 0:a906bb7c7831 | 3 | |
garyservin | 0:a906bb7c7831 | 4 | #include <stdint.h> |
garyservin | 0:a906bb7c7831 | 5 | #include <string.h> |
garyservin | 0:a906bb7c7831 | 6 | #include <stdlib.h> |
garyservin | 0:a906bb7c7831 | 7 | #include "ros/msg.h" |
garyservin | 0:a906bb7c7831 | 8 | #include "std_msgs/Header.h" |
garyservin | 0:a906bb7c7831 | 9 | |
garyservin | 0:a906bb7c7831 | 10 | namespace control_msgs |
garyservin | 0:a906bb7c7831 | 11 | { |
garyservin | 0:a906bb7c7831 | 12 | |
garyservin | 0:a906bb7c7831 | 13 | class JointControllerState : public ros::Msg |
garyservin | 0:a906bb7c7831 | 14 | { |
garyservin | 0:a906bb7c7831 | 15 | public: |
garyservin | 0:a906bb7c7831 | 16 | std_msgs::Header header; |
garyservin | 0:a906bb7c7831 | 17 | double set_point; |
garyservin | 0:a906bb7c7831 | 18 | double process_value; |
garyservin | 0:a906bb7c7831 | 19 | double process_value_dot; |
garyservin | 0:a906bb7c7831 | 20 | double error; |
garyservin | 0:a906bb7c7831 | 21 | double time_step; |
garyservin | 0:a906bb7c7831 | 22 | double command; |
garyservin | 0:a906bb7c7831 | 23 | double p; |
garyservin | 0:a906bb7c7831 | 24 | double i; |
garyservin | 0:a906bb7c7831 | 25 | double d; |
garyservin | 0:a906bb7c7831 | 26 | double i_clamp; |
garyservin | 0:a906bb7c7831 | 27 | |
garyservin | 0:a906bb7c7831 | 28 | JointControllerState(): |
garyservin | 0:a906bb7c7831 | 29 | header(), |
garyservin | 0:a906bb7c7831 | 30 | set_point(0), |
garyservin | 0:a906bb7c7831 | 31 | process_value(0), |
garyservin | 0:a906bb7c7831 | 32 | process_value_dot(0), |
garyservin | 0:a906bb7c7831 | 33 | error(0), |
garyservin | 0:a906bb7c7831 | 34 | time_step(0), |
garyservin | 0:a906bb7c7831 | 35 | command(0), |
garyservin | 0:a906bb7c7831 | 36 | p(0), |
garyservin | 0:a906bb7c7831 | 37 | i(0), |
garyservin | 0:a906bb7c7831 | 38 | d(0), |
garyservin | 0:a906bb7c7831 | 39 | i_clamp(0) |
garyservin | 0:a906bb7c7831 | 40 | { |
garyservin | 0:a906bb7c7831 | 41 | } |
garyservin | 0:a906bb7c7831 | 42 | |
garyservin | 0:a906bb7c7831 | 43 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:a906bb7c7831 | 44 | { |
garyservin | 0:a906bb7c7831 | 45 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 46 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:a906bb7c7831 | 47 | union { |
garyservin | 0:a906bb7c7831 | 48 | double real; |
garyservin | 0:a906bb7c7831 | 49 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 50 | } u_set_point; |
garyservin | 0:a906bb7c7831 | 51 | u_set_point.real = this->set_point; |
garyservin | 0:a906bb7c7831 | 52 | *(outbuffer + offset + 0) = (u_set_point.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 53 | *(outbuffer + offset + 1) = (u_set_point.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 54 | *(outbuffer + offset + 2) = (u_set_point.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 55 | *(outbuffer + offset + 3) = (u_set_point.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 56 | *(outbuffer + offset + 4) = (u_set_point.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 57 | *(outbuffer + offset + 5) = (u_set_point.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 58 | *(outbuffer + offset + 6) = (u_set_point.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 59 | *(outbuffer + offset + 7) = (u_set_point.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 60 | offset += sizeof(this->set_point); |
garyservin | 0:a906bb7c7831 | 61 | union { |
garyservin | 0:a906bb7c7831 | 62 | double real; |
garyservin | 0:a906bb7c7831 | 63 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 64 | } u_process_value; |
garyservin | 0:a906bb7c7831 | 65 | u_process_value.real = this->process_value; |
garyservin | 0:a906bb7c7831 | 66 | *(outbuffer + offset + 0) = (u_process_value.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 67 | *(outbuffer + offset + 1) = (u_process_value.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 68 | *(outbuffer + offset + 2) = (u_process_value.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 69 | *(outbuffer + offset + 3) = (u_process_value.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 70 | *(outbuffer + offset + 4) = (u_process_value.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 71 | *(outbuffer + offset + 5) = (u_process_value.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 72 | *(outbuffer + offset + 6) = (u_process_value.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 73 | *(outbuffer + offset + 7) = (u_process_value.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 74 | offset += sizeof(this->process_value); |
garyservin | 0:a906bb7c7831 | 75 | union { |
garyservin | 0:a906bb7c7831 | 76 | double real; |
garyservin | 0:a906bb7c7831 | 77 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 78 | } u_process_value_dot; |
garyservin | 0:a906bb7c7831 | 79 | u_process_value_dot.real = this->process_value_dot; |
garyservin | 0:a906bb7c7831 | 80 | *(outbuffer + offset + 0) = (u_process_value_dot.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 81 | *(outbuffer + offset + 1) = (u_process_value_dot.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 82 | *(outbuffer + offset + 2) = (u_process_value_dot.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 83 | *(outbuffer + offset + 3) = (u_process_value_dot.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 84 | *(outbuffer + offset + 4) = (u_process_value_dot.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 85 | *(outbuffer + offset + 5) = (u_process_value_dot.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 86 | *(outbuffer + offset + 6) = (u_process_value_dot.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 87 | *(outbuffer + offset + 7) = (u_process_value_dot.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 88 | offset += sizeof(this->process_value_dot); |
garyservin | 0:a906bb7c7831 | 89 | union { |
garyservin | 0:a906bb7c7831 | 90 | double real; |
garyservin | 0:a906bb7c7831 | 91 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 92 | } u_error; |
garyservin | 0:a906bb7c7831 | 93 | u_error.real = this->error; |
garyservin | 0:a906bb7c7831 | 94 | *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 95 | *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 96 | *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 97 | *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 98 | *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 99 | *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 100 | *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 101 | *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 102 | offset += sizeof(this->error); |
garyservin | 0:a906bb7c7831 | 103 | union { |
garyservin | 0:a906bb7c7831 | 104 | double real; |
garyservin | 0:a906bb7c7831 | 105 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 106 | } u_time_step; |
garyservin | 0:a906bb7c7831 | 107 | u_time_step.real = this->time_step; |
garyservin | 0:a906bb7c7831 | 108 | *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 109 | *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 110 | *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 111 | *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 112 | *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 113 | *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 114 | *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 115 | *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 116 | offset += sizeof(this->time_step); |
garyservin | 0:a906bb7c7831 | 117 | union { |
garyservin | 0:a906bb7c7831 | 118 | double real; |
garyservin | 0:a906bb7c7831 | 119 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 120 | } u_command; |
garyservin | 0:a906bb7c7831 | 121 | u_command.real = this->command; |
garyservin | 0:a906bb7c7831 | 122 | *(outbuffer + offset + 0) = (u_command.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 123 | *(outbuffer + offset + 1) = (u_command.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 124 | *(outbuffer + offset + 2) = (u_command.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 125 | *(outbuffer + offset + 3) = (u_command.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 126 | *(outbuffer + offset + 4) = (u_command.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 127 | *(outbuffer + offset + 5) = (u_command.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 128 | *(outbuffer + offset + 6) = (u_command.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 129 | *(outbuffer + offset + 7) = (u_command.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 130 | offset += sizeof(this->command); |
garyservin | 0:a906bb7c7831 | 131 | union { |
garyservin | 0:a906bb7c7831 | 132 | double real; |
garyservin | 0:a906bb7c7831 | 133 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 134 | } u_p; |
garyservin | 0:a906bb7c7831 | 135 | u_p.real = this->p; |
garyservin | 0:a906bb7c7831 | 136 | *(outbuffer + offset + 0) = (u_p.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 137 | *(outbuffer + offset + 1) = (u_p.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 138 | *(outbuffer + offset + 2) = (u_p.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 139 | *(outbuffer + offset + 3) = (u_p.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 140 | *(outbuffer + offset + 4) = (u_p.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 141 | *(outbuffer + offset + 5) = (u_p.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 142 | *(outbuffer + offset + 6) = (u_p.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 143 | *(outbuffer + offset + 7) = (u_p.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 144 | offset += sizeof(this->p); |
garyservin | 0:a906bb7c7831 | 145 | union { |
garyservin | 0:a906bb7c7831 | 146 | double real; |
garyservin | 0:a906bb7c7831 | 147 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 148 | } u_i; |
garyservin | 0:a906bb7c7831 | 149 | u_i.real = this->i; |
garyservin | 0:a906bb7c7831 | 150 | *(outbuffer + offset + 0) = (u_i.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 151 | *(outbuffer + offset + 1) = (u_i.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 152 | *(outbuffer + offset + 2) = (u_i.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 153 | *(outbuffer + offset + 3) = (u_i.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 154 | *(outbuffer + offset + 4) = (u_i.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 155 | *(outbuffer + offset + 5) = (u_i.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 156 | *(outbuffer + offset + 6) = (u_i.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 157 | *(outbuffer + offset + 7) = (u_i.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 158 | offset += sizeof(this->i); |
garyservin | 0:a906bb7c7831 | 159 | union { |
garyservin | 0:a906bb7c7831 | 160 | double real; |
garyservin | 0:a906bb7c7831 | 161 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 162 | } u_d; |
garyservin | 0:a906bb7c7831 | 163 | u_d.real = this->d; |
garyservin | 0:a906bb7c7831 | 164 | *(outbuffer + offset + 0) = (u_d.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 165 | *(outbuffer + offset + 1) = (u_d.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 166 | *(outbuffer + offset + 2) = (u_d.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 167 | *(outbuffer + offset + 3) = (u_d.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 168 | *(outbuffer + offset + 4) = (u_d.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 169 | *(outbuffer + offset + 5) = (u_d.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 170 | *(outbuffer + offset + 6) = (u_d.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 171 | *(outbuffer + offset + 7) = (u_d.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 172 | offset += sizeof(this->d); |
garyservin | 0:a906bb7c7831 | 173 | union { |
garyservin | 0:a906bb7c7831 | 174 | double real; |
garyservin | 0:a906bb7c7831 | 175 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 176 | } u_i_clamp; |
garyservin | 0:a906bb7c7831 | 177 | u_i_clamp.real = this->i_clamp; |
garyservin | 0:a906bb7c7831 | 178 | *(outbuffer + offset + 0) = (u_i_clamp.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 179 | *(outbuffer + offset + 1) = (u_i_clamp.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 180 | *(outbuffer + offset + 2) = (u_i_clamp.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 181 | *(outbuffer + offset + 3) = (u_i_clamp.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 182 | *(outbuffer + offset + 4) = (u_i_clamp.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 183 | *(outbuffer + offset + 5) = (u_i_clamp.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 184 | *(outbuffer + offset + 6) = (u_i_clamp.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 185 | *(outbuffer + offset + 7) = (u_i_clamp.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 186 | offset += sizeof(this->i_clamp); |
garyservin | 0:a906bb7c7831 | 187 | return offset; |
garyservin | 0:a906bb7c7831 | 188 | } |
garyservin | 0:a906bb7c7831 | 189 | |
garyservin | 0:a906bb7c7831 | 190 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:a906bb7c7831 | 191 | { |
garyservin | 0:a906bb7c7831 | 192 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 193 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:a906bb7c7831 | 194 | union { |
garyservin | 0:a906bb7c7831 | 195 | double real; |
garyservin | 0:a906bb7c7831 | 196 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 197 | } u_set_point; |
garyservin | 0:a906bb7c7831 | 198 | u_set_point.base = 0; |
garyservin | 0:a906bb7c7831 | 199 | u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 200 | u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 201 | u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 202 | u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 203 | u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 204 | u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 205 | u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 206 | u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 207 | this->set_point = u_set_point.real; |
garyservin | 0:a906bb7c7831 | 208 | offset += sizeof(this->set_point); |
garyservin | 0:a906bb7c7831 | 209 | union { |
garyservin | 0:a906bb7c7831 | 210 | double real; |
garyservin | 0:a906bb7c7831 | 211 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 212 | } u_process_value; |
garyservin | 0:a906bb7c7831 | 213 | u_process_value.base = 0; |
garyservin | 0:a906bb7c7831 | 214 | u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 215 | u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 216 | u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 217 | u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 218 | u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 219 | u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 220 | u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 221 | u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 222 | this->process_value = u_process_value.real; |
garyservin | 0:a906bb7c7831 | 223 | offset += sizeof(this->process_value); |
garyservin | 0:a906bb7c7831 | 224 | union { |
garyservin | 0:a906bb7c7831 | 225 | double real; |
garyservin | 0:a906bb7c7831 | 226 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 227 | } u_process_value_dot; |
garyservin | 0:a906bb7c7831 | 228 | u_process_value_dot.base = 0; |
garyservin | 0:a906bb7c7831 | 229 | u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 230 | u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 231 | u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 232 | u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 233 | u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 234 | u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 235 | u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 236 | u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 237 | this->process_value_dot = u_process_value_dot.real; |
garyservin | 0:a906bb7c7831 | 238 | offset += sizeof(this->process_value_dot); |
garyservin | 0:a906bb7c7831 | 239 | union { |
garyservin | 0:a906bb7c7831 | 240 | double real; |
garyservin | 0:a906bb7c7831 | 241 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 242 | } u_error; |
garyservin | 0:a906bb7c7831 | 243 | u_error.base = 0; |
garyservin | 0:a906bb7c7831 | 244 | u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 245 | u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 246 | u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 247 | u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 248 | u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 249 | u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 250 | u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 251 | u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 252 | this->error = u_error.real; |
garyservin | 0:a906bb7c7831 | 253 | offset += sizeof(this->error); |
garyservin | 0:a906bb7c7831 | 254 | union { |
garyservin | 0:a906bb7c7831 | 255 | double real; |
garyservin | 0:a906bb7c7831 | 256 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 257 | } u_time_step; |
garyservin | 0:a906bb7c7831 | 258 | u_time_step.base = 0; |
garyservin | 0:a906bb7c7831 | 259 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 260 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 261 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 262 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 263 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 264 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 265 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 266 | u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 267 | this->time_step = u_time_step.real; |
garyservin | 0:a906bb7c7831 | 268 | offset += sizeof(this->time_step); |
garyservin | 0:a906bb7c7831 | 269 | union { |
garyservin | 0:a906bb7c7831 | 270 | double real; |
garyservin | 0:a906bb7c7831 | 271 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 272 | } u_command; |
garyservin | 0:a906bb7c7831 | 273 | u_command.base = 0; |
garyservin | 0:a906bb7c7831 | 274 | u_command.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 275 | u_command.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 276 | u_command.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 277 | u_command.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 278 | u_command.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 279 | u_command.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 280 | u_command.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 281 | u_command.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 282 | this->command = u_command.real; |
garyservin | 0:a906bb7c7831 | 283 | offset += sizeof(this->command); |
garyservin | 0:a906bb7c7831 | 284 | union { |
garyservin | 0:a906bb7c7831 | 285 | double real; |
garyservin | 0:a906bb7c7831 | 286 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 287 | } u_p; |
garyservin | 0:a906bb7c7831 | 288 | u_p.base = 0; |
garyservin | 0:a906bb7c7831 | 289 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 290 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 291 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 292 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 293 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 294 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 295 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 296 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 297 | this->p = u_p.real; |
garyservin | 0:a906bb7c7831 | 298 | offset += sizeof(this->p); |
garyservin | 0:a906bb7c7831 | 299 | union { |
garyservin | 0:a906bb7c7831 | 300 | double real; |
garyservin | 0:a906bb7c7831 | 301 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 302 | } u_i; |
garyservin | 0:a906bb7c7831 | 303 | u_i.base = 0; |
garyservin | 0:a906bb7c7831 | 304 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 305 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 306 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 307 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 308 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 309 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 310 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 311 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 312 | this->i = u_i.real; |
garyservin | 0:a906bb7c7831 | 313 | offset += sizeof(this->i); |
garyservin | 0:a906bb7c7831 | 314 | union { |
garyservin | 0:a906bb7c7831 | 315 | double real; |
garyservin | 0:a906bb7c7831 | 316 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 317 | } u_d; |
garyservin | 0:a906bb7c7831 | 318 | u_d.base = 0; |
garyservin | 0:a906bb7c7831 | 319 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 320 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 321 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 322 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 323 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 324 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 325 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 326 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 327 | this->d = u_d.real; |
garyservin | 0:a906bb7c7831 | 328 | offset += sizeof(this->d); |
garyservin | 0:a906bb7c7831 | 329 | union { |
garyservin | 0:a906bb7c7831 | 330 | double real; |
garyservin | 0:a906bb7c7831 | 331 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 332 | } u_i_clamp; |
garyservin | 0:a906bb7c7831 | 333 | u_i_clamp.base = 0; |
garyservin | 0:a906bb7c7831 | 334 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 335 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 336 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 337 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 338 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 339 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 340 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 341 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 342 | this->i_clamp = u_i_clamp.real; |
garyservin | 0:a906bb7c7831 | 343 | offset += sizeof(this->i_clamp); |
garyservin | 0:a906bb7c7831 | 344 | return offset; |
garyservin | 0:a906bb7c7831 | 345 | } |
garyservin | 0:a906bb7c7831 | 346 | |
garyservin | 0:a906bb7c7831 | 347 | const char * getType(){ return "control_msgs/JointControllerState"; }; |
garyservin | 0:a906bb7c7831 | 348 | const char * getMD5(){ return "c0d034a7bf20aeb1c37f3eccb7992b69"; }; |
garyservin | 0:a906bb7c7831 | 349 | |
garyservin | 0:a906bb7c7831 | 350 | }; |
garyservin | 0:a906bb7c7831 | 351 | |
garyservin | 0:a906bb7c7831 | 352 | } |
garyservin | 0:a906bb7c7831 | 353 | #endif |