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library_v4
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srv_tests
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README.md
non-ros-files
src
custom_interfaces
pubsub
package.xmlsetup.py
pubsub
__pycache__
action_client_example.pyaction_server_example.pypubsub_library_v3.pypubsub_library_v4.pyservice_client.pyservice_host.pystatemachine_client_example.pystatemachine_host_example.pytopic_listener.pytopic_talker.pytest
pubsub_msg
21
README.md
21
README.md
@ -1,16 +1,13 @@
|
||||
# pubsub - ROS2 Package
|
||||
Python Library for ROS2 Topic Publisher & Subscriber, Service Host & Client, Actions Server & Client.
|
||||
|
||||
Disclaimer:
|
||||
# pubsub - Publisher & Subscriber Package
|
||||
Minimal Publisher & Subscriber Template for ROS2.
|
||||
```
|
||||
Created for University Course "Roverentwicklung für Explorationsaufgaben"
|
||||
Created for ROS Workshop 2020
|
||||
Course Roverentwicklung für Explorationsaufgaben
|
||||
Institute for Space Systems
|
||||
University of Stuttgart.
|
||||
|
||||
Created by Patrick Winterhalder, Institute of Space Systems, University of Stuttgart (2020),
|
||||
Edited by Christopher Herr (2023)
|
||||
```
|
||||
|
||||
Class Code created by [Patrick Winterhalder](https://www.irs.uni-stuttgart.de/en/institute/team/Winterhalder/),
|
||||
[IRS](https://www.irs.uni-stuttgart.de), University of Stuttgart.
|
||||
|
||||
|
||||
## Workshop Prerequisites
|
||||
@ -43,12 +40,6 @@ The following steps describe how you can create a local copy of this repository
|
||||
* Remember to run `source ~/<workspace_path>/install/local_setup.sh` after every build.
|
||||
In order to avoid this repetitive command, add line 23-27 from [_.bashrc_](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/bashrc_overlay.bash) to your shell startup script for every overlay you want to source. This script runs everytime you start a new console, thus loading your overlays automatically. This is very handy if you are working with multiple _colcon_ workspaces (overlays) simultaneously.
|
||||
|
||||
## Deprecation Error when building
|
||||
Solution:
|
||||
* https://answers.ros.org/question/386341/ros2-userwarning-usage-of-dash-separated-install-scripts-will-not-be-supported-in-future-versions-please-use-the-underscore-name-install_scripts/
|
||||
* https://answers.ros.org/question/396439/setuptoolsdeprecationwarning-setuppy-install-is-deprecated-use-build-and-pip-and-other-standards-based-tools/
|
||||
```$ pip install setuptools==58.2.0```
|
||||
|
||||
|
||||
## Workshop Content
|
||||
In this workshop you will:
|
||||
|
||||
@ -4,43 +4,22 @@
|
||||
# Only the password was changed after first boot
|
||||
# Everything else is stock
|
||||
|
||||
## Reference / Source:
|
||||
# https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html
|
||||
|
||||
## First Update
|
||||
# First Update
|
||||
sudo apt-get update && sudo apt-get upgrade -y && sudo apt-get dist-upgrade -y
|
||||
|
||||
### Install ROS2 Foxy Fitzroy for Raspberry Pi
|
||||
|
||||
## Check for UTF-8
|
||||
locale # check for UTF-8
|
||||
sudo apt install locales
|
||||
# Install ROS2 Foxy Fitzroy Desktop
|
||||
sudo apt update && sudo apt install locales
|
||||
sudo locale-gen en_US en_US.UTF-8
|
||||
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
|
||||
export LANG=en_US.UTF-8
|
||||
locale # verify settings
|
||||
|
||||
## Setup Sources
|
||||
sudo apt install software-properties-common
|
||||
sudo add-apt-repository universe
|
||||
|
||||
sudo apt update && sudo apt install curl
|
||||
sudo apt install -y curl gnupg2 lsb-release
|
||||
|
||||
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
|
||||
# OLD: curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
|
||||
# OLD: sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
|
||||
|
||||
|
||||
## Install ROS2
|
||||
sudo apt-get update && sudo apt-get upgrade -y
|
||||
sudo apt install -y ros-foxy-ros-base
|
||||
sudo apt update && sudo apt install -y curl gnupg2 lsb-release
|
||||
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
|
||||
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
|
||||
sudo apt update && sudo apt install -y ros-foxy-ros-base
|
||||
source /opt/ros/foxy/setup.bash
|
||||
# Check to see if installed correctly
|
||||
echo "ROS_VERSION: "$ROS_VERSION
|
||||
|
||||
## Install other Tools
|
||||
|
||||
# Install rosdep
|
||||
sudo apt install -y python3-rosdep2
|
||||
rosdep update
|
||||
@ -65,6 +44,7 @@ cd colcon_ws
|
||||
colcon build
|
||||
|
||||
|
||||
|
||||
# Install network tools
|
||||
sudo apt install -y wireless-tools
|
||||
|
||||
@ -72,16 +52,16 @@ sudo apt install -y wireless-tools
|
||||
# Install Git
|
||||
sudo apt install -y git
|
||||
|
||||
|
||||
# Setup remote git from inside workspace
|
||||
cd ~/colcon_ws
|
||||
git init
|
||||
|
||||
|
||||
# Change the URL to your Git repository
|
||||
git remote add origin https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub.git
|
||||
git fetch --all
|
||||
git reset --hard origin/master
|
||||
|
||||
|
||||
# Install your project specific python packages
|
||||
# You can use pip3 as the install tool, eg:
|
||||
pip3 install python-can
|
||||
|
||||
@ -1,64 +0,0 @@
|
||||
cmake_minimum_required(VERSION 3.5)
|
||||
project(custom_interfaces)
|
||||
|
||||
# Default to C99
|
||||
if(NOT CMAKE_C_STANDARD)
|
||||
set(CMAKE_C_STANDARD 99)
|
||||
endif()
|
||||
|
||||
# Default to C++14
|
||||
if(NOT CMAKE_CXX_STANDARD)
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
endif()
|
||||
|
||||
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
add_compile_options(-Wall -Wextra -Wpedantic)
|
||||
endif()
|
||||
|
||||
# find dependencies
|
||||
find_package(ament_cmake REQUIRED)
|
||||
find_package(std_msgs REQUIRED)
|
||||
find_package(builtin_interfaces REQUIRED)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
# -->
|
||||
# ADD THESE LINES: START HERE
|
||||
|
||||
find_package(rosidl_default_generators REQUIRED)
|
||||
find_package(rclcpp REQUIRED)
|
||||
|
||||
# CUSTOM LINES: CHANGE FOR YOUR FILENAMES
|
||||
rosidl_generate_interfaces(${PROJECT_NAME}
|
||||
"msg/CustomMsg1.msg"
|
||||
"msg/CustomMsg2.msg"
|
||||
"srv/CustomSrv1.srv"
|
||||
"action/TestACT.action"
|
||||
DEPENDENCIES builtin_interfaces
|
||||
)
|
||||
|
||||
# END HERE
|
||||
# <--
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
if(BUILD_TESTING)
|
||||
find_package(ament_lint_auto REQUIRED)
|
||||
# the following line skips the linter which checks for copyrights
|
||||
# uncomment the line when a copyright and license is not present in all source files
|
||||
#set(ament_cmake_copyright_FOUND TRUE)
|
||||
# the following line skips cpplint (only works in a git repo)
|
||||
# uncomment the line when this package is not in a git repo
|
||||
#set(ament_cmake_cpplint_FOUND TRUE)
|
||||
ament_lint_auto_find_test_dependencies()
|
||||
endif()
|
||||
|
||||
ament_package()
|
||||
@ -1,40 +0,0 @@
|
||||
Use this ROS2 package to create custom interfaces, eg. topic (*.msg) and/or service (*.srv) files.
|
||||
This package must only be used for interface files and __no__ Python scripts.
|
||||
|
||||
The following steps describe how to create a new custom topic or service.
|
||||
|
||||
## 1. Create new interface file
|
||||
Topic *.msg files got into `msg` directory,
|
||||
Service *.srv files got into `srv` directory.
|
||||
|
||||
Create these files according to the example on this [instructions page](https://docs.ros.org/en/foxy/Tutorials/Writing-A-Simple-Py-Service-And-Client.html).
|
||||
|
||||
## 2. CMakeLists.txt
|
||||
Edit the `CMakeLists.txt` file by adding the newly created *.msg or *.srv files to this part:
|
||||
```cmake
|
||||
rosidl_generate_interfaces(${PROJECT_NAME}
|
||||
"msg/CustomMsg1.msg"
|
||||
"msg/CustomMsg2.msg"
|
||||
"srv/CustomSrv1.srv"
|
||||
DEPENDENCIES builtin_interfaces
|
||||
)
|
||||
```
|
||||
|
||||
## 3. Build colcon workspace
|
||||
Move back to the root of your _colcon_ workspace and rebuild it: `colcon build --symlink-install`
|
||||
It should build without any errors. If you encounter errors fix these before continuing.
|
||||
|
||||
After a successful build you must __close and reopen all terminals__ in order to source the newly built workspace. For this to happen you must have edited _.bashrc_ and added your current workspace (`sudo nano ~/.bashrc` and follow [this example](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/bashrc_overlay.bash)).
|
||||
|
||||
## 4. Import interfaces
|
||||
Import the newly created interfaces into the Python scripts. These scripts must be located in _Python packages_ inside the same workspace (or another _sourced_ workspace):
|
||||
* Topics:
|
||||
```python
|
||||
from custom_interfaces.msg import CustomMsg1
|
||||
```
|
||||
|
||||
* Services:
|
||||
```python
|
||||
from custom_interfaces.srv import CustomSrv1
|
||||
```
|
||||
Now you can work with your custom interface in order to exchange custom information between nodes.
|
||||
@ -1,8 +0,0 @@
|
||||
#Goal
|
||||
int8 number
|
||||
---
|
||||
#Response/Result
|
||||
bool success
|
||||
---
|
||||
#Feedback
|
||||
int8 current_number
|
||||
@ -1,8 +0,0 @@
|
||||
# Header data, eg timestamp
|
||||
# Problem: "header__struct.hpp: No such file or directory"
|
||||
#Header header
|
||||
|
||||
# Sensor Data coming back from an array of atmospheric sensors
|
||||
float32[] temperature
|
||||
float32[] pressure
|
||||
float32[] humidity
|
||||
@ -1,7 +0,0 @@
|
||||
# Header data, eg timestamp
|
||||
# Problem: "header__struct.hpp: No such file or directory"
|
||||
#Header header
|
||||
|
||||
# User inputs, eg. for controlling a camera mast , eg. set angles [rad]
|
||||
float32 pitch_ctrl
|
||||
float32 yaw_ctrl
|
||||
@ -1,46 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>custom_interfaces</name>
|
||||
<version>0.0.0</version>
|
||||
<description>TODO: Package description</description>
|
||||
<maintainer email="rosmobile@todo.todo">rosmobile</maintainer>
|
||||
<license>TODO: License declaration</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
|
||||
|
||||
|
||||
|
||||
<!-- ADD THESE LINES: START HERE -->
|
||||
|
||||
<build_depend>builtin_interfaces</build_depend>
|
||||
<build_depend>rosidl_default_generators</build_depend>
|
||||
<buildtool_depend>rosidl_default_generators</buildtool_depend>
|
||||
<depend>action_msgs</depend>
|
||||
|
||||
|
||||
<exec_depend>builtin_interfaces</exec_depend>
|
||||
<exec_depend>rosidl_default_runtime</exec_depend>
|
||||
|
||||
<member_of_group>rosidl_interface_packages</member_of_group>
|
||||
<!-- END HERE -->
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<depend>std_msgs</depend>
|
||||
<!-- DO NOT ENTER THIS DEPENDENCY WHEN CREATING NEW PACKAGE -->
|
||||
<!-- <depend>builtin_interfaces</depend> -->
|
||||
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@ -1,3 +0,0 @@
|
||||
string command
|
||||
---
|
||||
bool success
|
||||
@ -1,6 +0,0 @@
|
||||
int32 incline
|
||||
bool store
|
||||
bool elevate
|
||||
bool upright
|
||||
---
|
||||
bool success
|
||||
@ -1,3 +0,0 @@
|
||||
bool command
|
||||
---
|
||||
bool success
|
||||
@ -1,11 +0,0 @@
|
||||
int32 degree
|
||||
uint32 speed
|
||||
bool status
|
||||
---
|
||||
bool success
|
||||
string error
|
||||
int32 present_position
|
||||
int32 present_load
|
||||
int32 present_temp
|
||||
uint32 present_v
|
||||
int32 up_cali
|
||||
@ -1,7 +0,0 @@
|
||||
bool abs
|
||||
int32 degree
|
||||
int32 local_degree
|
||||
string center
|
||||
---
|
||||
bool success
|
||||
int32 present_pos
|
||||
@ -1,3 +0,0 @@
|
||||
bool triggered
|
||||
---
|
||||
bool success
|
||||
@ -1,4 +0,0 @@
|
||||
string command
|
||||
float32 value
|
||||
---
|
||||
bool success
|
||||
@ -1,3 +0,0 @@
|
||||
string node_name
|
||||
---
|
||||
string node_name
|
||||
@ -15,7 +15,9 @@
|
||||
|
||||
<!-- CUSTOM LINE -->
|
||||
<!-- This is custom for the package you depend on -->
|
||||
<exec_depend>pubsub_msg</exec_depend>
|
||||
<!-- <exec_depend>pubsub_msg</exec_depend> -->
|
||||
<exec_depend>custom_interfaces</exec_depend>
|
||||
<!-- test -->
|
||||
<!-- END HERE -->
|
||||
|
||||
|
||||
|
||||
Binary file not shown.
@ -1,58 +0,0 @@
|
||||
import rclpy
|
||||
from rclpy.action import ActionClient
|
||||
from rclpy.node import Node
|
||||
import time
|
||||
|
||||
|
||||
from pubsub.pubsub_library_v4 import MinimalActionClient
|
||||
|
||||
from custom_interfaces.action import TestACT
|
||||
|
||||
|
||||
class Client(MinimalActionClient):
|
||||
|
||||
def goalrequest(self):
|
||||
# Create a goal request and send it
|
||||
goal_msg = TestACT.Goal()
|
||||
goal_msg.number = 7
|
||||
Tester.send_action_goal(goal_msg)
|
||||
|
||||
# for only one variable:
|
||||
# goal_msg = 7
|
||||
# Tester.send_action_goal(goal_msg)
|
||||
# is also valid
|
||||
|
||||
# Start a 5 second timer to initiate cancel request (demonstarate cancel)
|
||||
self._timer = self.create_timer(5.0, self.cancel_goal)
|
||||
|
||||
|
||||
def get_result_callback(self, future):
|
||||
# get result
|
||||
result = future.result().result
|
||||
self.get_logger().info(f'Result: {result.success}')
|
||||
|
||||
|
||||
def feedback_callback(self, feedback_msg):
|
||||
# get feedback
|
||||
feedback = feedback_msg.feedback
|
||||
#print(feedback.current_number)
|
||||
self.get_logger().info(f'Received feedback: {feedback.current_number}')
|
||||
|
||||
def spin_once(self):
|
||||
rclpy.spin_once(self, timeout_sec=0.01)
|
||||
|
||||
|
||||
def main(args=None):
|
||||
rclpy.init(args=args)
|
||||
global Tester
|
||||
|
||||
Tester = Client(NODE_NAME="action_client", ACT_NAME="ActionTest", ACT_TYPE=TestACT)
|
||||
Tester.goalrequest()
|
||||
|
||||
|
||||
while rclpy.ok():
|
||||
Tester.spin_once()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@ -1,68 +0,0 @@
|
||||
import rclpy
|
||||
from rclpy.action import ActionServer, CancelResponse, GoalResponse
|
||||
from rclpy.node import Node
|
||||
import time
|
||||
|
||||
from pubsub.pubsub_library_v4 import MinimalActionServer
|
||||
|
||||
from custom_interfaces.action import TestACT
|
||||
|
||||
|
||||
class Server(MinimalActionServer):
|
||||
|
||||
def execute_callback(self, goal_handle):
|
||||
self.get_logger().info('Executing goal...')
|
||||
self.goal_handle = goal_handle
|
||||
|
||||
# Use the goal request
|
||||
i = self.goal_handle.request.number
|
||||
print(i)
|
||||
time.sleep(2)
|
||||
|
||||
|
||||
# initialize a feedback
|
||||
self.feedback_msg = TestACT.Feedback()
|
||||
|
||||
|
||||
# do the function with the requested input
|
||||
while i < 100:
|
||||
self.spin_once()
|
||||
if self.cancel == True:
|
||||
self.cancel = False
|
||||
break
|
||||
i += 1
|
||||
|
||||
# wrrte feedback
|
||||
self.feedback_msg.current_number = i
|
||||
self.get_logger().info(f'Feedback message: {self.feedback_msg.current_number}')
|
||||
|
||||
# publish feedback
|
||||
Versuch.send_feedback(self.feedback_msg)
|
||||
time.sleep(.5)
|
||||
|
||||
# genrate a respones/result
|
||||
self.goal_handle.succeed()
|
||||
self.result = TestACT.Result()
|
||||
self.result.success = True
|
||||
self.get_logger().info('Result sent.')
|
||||
return self.result
|
||||
|
||||
|
||||
|
||||
def spin_once(self):
|
||||
rclpy.spin_once(self, timeout_sec=0.01)
|
||||
|
||||
|
||||
def main(args=None):
|
||||
rclpy.init(args=args)
|
||||
global Versuch
|
||||
|
||||
Versuch = Server(NODE_NAME="action_server", ACT_NAME="ActionTest", ACT_TYPE=TestACT)
|
||||
|
||||
while rclpy.ok():
|
||||
Versuch.spin_once()
|
||||
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@ -166,7 +166,9 @@ class MinimalServiceProvider(Node):
|
||||
|
||||
# Insert your callback code here
|
||||
def user_defined(self, request, response):
|
||||
""" Write your user defined code here which will be run at every service call
|
||||
""" OLD! Use function parameter srv_callback_fct instead!
|
||||
|
||||
Write your user defined code here which will be run at every service call
|
||||
|
||||
Input:
|
||||
* request: srv request class
|
||||
@ -201,7 +203,7 @@ class MinimalServiceClientAsync(Node):
|
||||
def send_request(self, request):
|
||||
"""
|
||||
Feed request of type "SRV_TYPE.Request()"
|
||||
Access variable using
|
||||
Access individual variables using
|
||||
* request = SRV_TYPE.Request()
|
||||
* request.<var_name> = ....
|
||||
"""
|
||||
@ -246,7 +248,7 @@ class MinimalActionServer(Node):
|
||||
* act_callback_input: action callback function
|
||||
|
||||
Return:
|
||||
*
|
||||
*
|
||||
"""
|
||||
|
||||
def __init__(self, NODE_NAME, ACT_NAME, ACT_TYPE, act_callback_input=None):
|
||||
@ -258,19 +260,19 @@ class MinimalActionServer(Node):
|
||||
self.execute_callback= self.std_act_callback
|
||||
else:
|
||||
self.execute_callback = act_callback_input
|
||||
|
||||
|
||||
# Init above laying class "Node" (super class)
|
||||
super().__init__(self.NODE_NAME)
|
||||
print("\tStarting Action Server:\t%s"%(self.ACT_NAME))
|
||||
self._action_server = ActionServer(self, self.ACT_TYPE, self.ACT_NAME, self.execute_callback)
|
||||
|
||||
|
||||
|
||||
# standard action callback
|
||||
def std_act_callback(self, goal_handle):
|
||||
""" Standard Action Callback Method
|
||||
""" Standard Action Callback Method
|
||||
|
||||
Replace this method by inputting a custom callback method using 'act_callback_input'.
|
||||
This method MUST return a variable of the type 'action result',
|
||||
Replace this method by inputting a custom callback method using 'act_callback_input'.
|
||||
This method MUST return a variable of the type 'action result',
|
||||
eg. result = ACTION_TYPE.Result()
|
||||
"""
|
||||
self.get_logger().info('Executing goal...')
|
||||
@ -280,7 +282,7 @@ class MinimalActionServer(Node):
|
||||
#################
|
||||
result = self.ACT_TYPE.Result()
|
||||
return result
|
||||
|
||||
|
||||
#******************************************************************************#
|
||||
|
||||
class MinimalActionClient(Node):
|
||||
@ -292,21 +294,21 @@ class MinimalActionClient(Node):
|
||||
* act_callback_input: action callback function
|
||||
|
||||
Return:
|
||||
*
|
||||
*
|
||||
"""
|
||||
|
||||
def __init__(self, NODE_NAME, ACT_NAME, ACT_TYPE, act_callback_input=None):
|
||||
self.NODE_NAME = NODE_NAME
|
||||
self.ACT_NAME = ACT_NAME
|
||||
self.ACT_TYPE = ACT_TYPE
|
||||
|
||||
|
||||
# Init above laying class "Node" (super class)
|
||||
super().__init__(self.NODE_NAME)
|
||||
print("\tStarting Action Client for:\t%s"%(self.ACT_NAME))
|
||||
self._action_client = ActionClient(self, self.ACT_TYPE, self.ACT_NAME)
|
||||
|
||||
|
||||
def send_goal(self, input):
|
||||
return
|
||||
|
||||
|
||||
def abort_goal(self):
|
||||
return
|
||||
@ -1,444 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
#********************************************#
|
||||
# ROS2 Topic, Service and Action Class Library
|
||||
|
||||
# Creted for:
|
||||
# ROS2 Workshop 2020
|
||||
# Roverentwicklung für Explorationsaufgaben
|
||||
# Institute for Space Systems
|
||||
# University of Stuttgart
|
||||
|
||||
# Created by Patrick Winterhalder
|
||||
# IRS, University of Stuttgart
|
||||
|
||||
# Updated by Christopher Herr
|
||||
# Added Actions (March 2023)
|
||||
#********************************************#
|
||||
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
from rclpy.action import ActionClient
|
||||
from rclpy.action import ActionServer, CancelResponse
|
||||
import time
|
||||
|
||||
# How to use, please refer to:
|
||||
# Topic:
|
||||
# - topic_talker.py
|
||||
# - topic_listener.py
|
||||
# Service:
|
||||
# - service_host.py
|
||||
# - service_client.py
|
||||
# Action:
|
||||
# - action_server_example.py
|
||||
# - action_client_example.py
|
||||
|
||||
|
||||
|
||||
|
||||
# Definition of Parent Classes
|
||||
#******************************************************************************#
|
||||
# TOPIC
|
||||
#******************************************************************************#
|
||||
|
||||
class MinimalPublisher(Node):
|
||||
|
||||
def __init__(self, NODE_NAME, TOPIC_NAME, MSG_TYPE, MSG_PERIOD):
|
||||
self.NODE_NAME= NODE_NAME
|
||||
self.TOPIC_NAME = TOPIC_NAME
|
||||
self.CUSTOM_MSG = MSG_TYPE
|
||||
self.timer_period = MSG_PERIOD # [seconds]
|
||||
# Init above laying class Node
|
||||
super().__init__(self.NODE_NAME)
|
||||
print("\t- " + str(TOPIC_NAME) + "\n")
|
||||
self.publisher_ = self.create_publisher(
|
||||
self.CUSTOM_MSG,
|
||||
self.TOPIC_NAME,
|
||||
10)
|
||||
self.new_msg = False
|
||||
# Define Node Frequency, equivalent to ~rospy.rate()
|
||||
self.timer = self.create_timer(self.timer_period, self.publisher_timer)
|
||||
return
|
||||
|
||||
def publisher_timer(self):
|
||||
if self.new_msg is True:
|
||||
try:
|
||||
#self.get_logger().info('Pub:')
|
||||
self.publisher_.publish(self.msg)
|
||||
self.new_msg = False
|
||||
except TypeError:
|
||||
print("[ERROR] Msg-Data-Types do not match")
|
||||
return
|
||||
|
||||
# Publish using Timer
|
||||
def timer_publish(self, msg):
|
||||
self.msg=msg
|
||||
self.new_msg = True
|
||||
return
|
||||
|
||||
# Publish directly without Timer
|
||||
def direct_publish(self, msg):
|
||||
try:
|
||||
#self.get_logger().info('Pub:')
|
||||
self.publisher_.publish(msg)
|
||||
except TypeError:
|
||||
print("[ERROR] Msg-Data-Types do not match")
|
||||
return
|
||||
|
||||
#******************************************************************************#
|
||||
|
||||
class MinimalSubscriber(Node):
|
||||
|
||||
def __init__(self, NODE_NAME, TOPIC_NAME, MSG_TYPE, NUM_MSGS):
|
||||
self.NODE_NAME= NODE_NAME
|
||||
self.TOPIC_NAME = TOPIC_NAME
|
||||
self.CUSTOM_MSG = MSG_TYPE
|
||||
self.NUM_MSGS = NUM_MSGS
|
||||
self.topic_received = False
|
||||
self.overflow = False
|
||||
self.watchdog = 0
|
||||
self.trust = 0
|
||||
self.msg = None
|
||||
super().__init__(self.NODE_NAME)
|
||||
self.subscription = self.create_subscription(
|
||||
self.CUSTOM_MSG, # Message Type
|
||||
self.TOPIC_NAME, # Topic Name
|
||||
self.listener_callback, # Callback Function
|
||||
self.NUM_MSGS) # List of saved messages
|
||||
self.subscription # prevent unused variable warning
|
||||
print("MinimalSubscriber `%s` created"%(self.NODE_NAME))
|
||||
return
|
||||
|
||||
def listener_callback(self, msg):
|
||||
#self.get_logger().info('I heard: "%s"' % msg.data)
|
||||
self.last_msg_time = time.time()
|
||||
self.topic_received = True
|
||||
self.msg = msg
|
||||
return
|
||||
|
||||
def has_msg(self):
|
||||
# Check if a maessage has been received
|
||||
return self.msg is not None
|
||||
|
||||
def return_msg(self):
|
||||
return self.msg
|
||||
|
||||
def timer_overflow(self, time_limit=0, number_of_timer_overflows=10, trust_factor=1):
|
||||
"""Watchdog for Topic Publisher Messages\n
|
||||
ture = timer_overflow >> error
|
||||
false = no timer_overflow >> no error"""
|
||||
self.overflow = False
|
||||
if time_limit > 0 and self.has_msg():
|
||||
if time.time() <= self.last_msg_time + time_limit:
|
||||
if self.watchdog > 0:
|
||||
self.trust += 1
|
||||
if self.trust > number_of_timer_overflows * trust_factor:
|
||||
self.watchdog = 0
|
||||
if time.time() > self.last_msg_time + time_limit:
|
||||
self.watchdog += 1
|
||||
self.trust = 0
|
||||
self.get_logger().warn(f"Message-Watchdog triggered {self.watchdog} times")
|
||||
if self.watchdog > number_of_timer_overflows:
|
||||
self.overflow = True
|
||||
return self.overflow
|
||||
|
||||
|
||||
#******************************************************************************#
|
||||
# SERVICE
|
||||
#******************************************************************************#
|
||||
|
||||
class MinimalServiceProvider(Node):
|
||||
""" Minimal Service Provider Class
|
||||
Inputs:
|
||||
* NODE_NAME: string
|
||||
* SRV_NAME: string
|
||||
* SRV_TYPE: service type class
|
||||
* srv_callback_fct: service callback function
|
||||
|
||||
srv_callback_fct - Inputs:
|
||||
* request: class of type srv request
|
||||
* response: class of type srv response
|
||||
|
||||
Return:
|
||||
* response: class of type srv response
|
||||
"""
|
||||
|
||||
|
||||
def __init__(self, NODE_NAME, SRV_NAME, SRV_TYPE, srv_callback_fct=None):
|
||||
self.NODE_NAME = NODE_NAME
|
||||
self.SRV_NAME = SRV_NAME
|
||||
self.SRV_TYPE = SRV_TYPE
|
||||
if srv_callback_fct == None:
|
||||
self.srv_callback = self.std_srv_callback
|
||||
else:
|
||||
self.srv_callback = srv_callback_fct
|
||||
# Init above laying class "Node"
|
||||
super().__init__(self.NODE_NAME)
|
||||
print("\tStarting Service as Host:\t%s"%(self.SRV_NAME))
|
||||
#self.srv_host = self.create_service(self.SRV_TYPE, self.SRV_NAME, self.service_callback)
|
||||
self.srv_host = self.create_service(self.SRV_TYPE, self.SRV_NAME, self.srv_callback)
|
||||
|
||||
#def service_callback(self, request, response):
|
||||
def std_srv_callback(self, request, response):
|
||||
"""
|
||||
* request: first half of srv-file
|
||||
* response: second half of srv-file
|
||||
|
||||
access values using class access:
|
||||
* request.var_name
|
||||
* response.var_name
|
||||
"""
|
||||
self.get_logger().info("[srv: %s] Service Call Received"%(self.SRV_NAME))
|
||||
# Abstraction layer:
|
||||
response = self.user_defined(request, response) # Function defined below
|
||||
return response
|
||||
|
||||
# Insert your callback code here
|
||||
def user_defined(self, request, response):
|
||||
""" Write your user defined code here which will be run at every service call
|
||||
|
||||
Input:
|
||||
* request: srv request class
|
||||
Return:
|
||||
* response: srv response class
|
||||
|
||||
Access these variables using class access, eg. request.var_name
|
||||
"""
|
||||
# Write user defined code here
|
||||
# Adapt to fit your service type
|
||||
# You could overwrite this fdunctions with a new function when initializing this class
|
||||
response.success = True # Change this to fit your service type
|
||||
return response
|
||||
|
||||
#******************************************************************************#
|
||||
|
||||
class MinimalServiceClientAsync(Node):
|
||||
def __init__(self, NODE_NAME, SRV_NAME, SRV_TYPE):
|
||||
self.NODE_NAME = NODE_NAME
|
||||
self.SRV_NAME = SRV_NAME
|
||||
self.SRV_TYPE = SRV_TYPE
|
||||
# Init above laying class "Node" (super class)
|
||||
super().__init__(self.NODE_NAME)
|
||||
|
||||
print("Starting Service Client:\t%s"%(self.SRV_NAME))
|
||||
self.srv_client = self.create_client(self.SRV_TYPE, self.SRV_NAME)
|
||||
while not self.srv_client.wait_for_service(timeout_sec=1.0):
|
||||
self.get_logger().info('service not available, waiting...')
|
||||
self.request = self.SRV_TYPE.Request()
|
||||
self.done_was_true = False
|
||||
|
||||
def send_request(self, request):
|
||||
"""
|
||||
Feed request of type "SRV_TYPE.Request()"
|
||||
Access variable using
|
||||
* request = SRV_TYPE.Request()
|
||||
* request.<var_name> = ....
|
||||
"""
|
||||
self.request = request
|
||||
self.done_was_true = False
|
||||
self.future = self.srv_client.call_async(self.request)
|
||||
|
||||
def check_if_service_complete(self):
|
||||
""" Checks if service call was answered by host.
|
||||
|
||||
Returns tuple [done, response]:
|
||||
* done: Bool (service call complete)
|
||||
* response: msg class from srv type
|
||||
"""
|
||||
if self.future.done():
|
||||
try:
|
||||
response = self.future.result()
|
||||
self.done_was_true = True
|
||||
except Exception as e:
|
||||
self.get_logger().info('Service call failed %r' % (e,))
|
||||
else:
|
||||
pass
|
||||
# Adapt to fit your custom service type
|
||||
# self.get_logger().info('Result of add_three_ints: for %d + %d + %d = %d' %(minimal_client.req.a, minimal_client.req.b, minimal_client.req.c, response.sum))
|
||||
return self.future.done(), response # response is of type "<service_type_name>.Response()"
|
||||
else:
|
||||
return self.future.done(), None
|
||||
|
||||
|
||||
|
||||
|
||||
#******************************************************************************#
|
||||
# ACTIONS
|
||||
#******************************************************************************#
|
||||
|
||||
class MinimalActionServer(Node):
|
||||
|
||||
def __init__(self, NODE_NAME, ACT_NAME, ACT_TYPE, execute_callback=None, cancel_callback=None):
|
||||
"""MinimalActionCLien Input:\n
|
||||
NODE_NAME: name of the Node
|
||||
ACT_NAME: name of the action
|
||||
ACT_TYPE: type of the action (custom action file)
|
||||
execute_callback=None: user defined function to execute the action goal
|
||||
cancel_callback=None: user defined function to cancel the goal during the action\n\n
|
||||
Best practice is to inherit this class and then override the 'get_result_callback' and 'feedback_callback' method
|
||||
in your own class with the same name."""
|
||||
self.NODE_NAME = NODE_NAME
|
||||
self.ACT_NAME = ACT_NAME
|
||||
self.ACT_TYPE = ACT_TYPE
|
||||
self.cancel = False
|
||||
self.goal_handle = None
|
||||
|
||||
if execute_callback == None:
|
||||
self.execute_callback = self.execute_callback
|
||||
else:
|
||||
self.execute_callback = execute_callback
|
||||
|
||||
if cancel_callback == None:
|
||||
self.cancel_callback = self.cancel_callback
|
||||
else:
|
||||
self.cancel_callback = cancel_callback
|
||||
|
||||
super().__init__(self.NODE_NAME)
|
||||
self._action_server = ActionServer(self, action_type=self.ACT_TYPE, action_name=self.ACT_NAME, execute_callback=self.execute_callback, cancel_callback=self.cancel_callback)
|
||||
|
||||
|
||||
def execute_callback(self, goal_handle):
|
||||
self.get_logger().info('Executing goal...')
|
||||
self.goal_handle = goal_handle
|
||||
|
||||
time.sleep(1)
|
||||
# initialize a feedback
|
||||
self.get_logger().info('Sending feedback with vlaue: 34')
|
||||
self.feedback_msg = self.ACT_TYPE.Feedback()
|
||||
self.feedback_msg.current_number = 34
|
||||
self.send_feedback(self.feedback_msg)
|
||||
|
||||
time.sleep(1)
|
||||
# initzialize a result
|
||||
self.get_logger().info('Sending result...')
|
||||
result = self.ACT_TYPE.Result()
|
||||
result.success = True
|
||||
self.send_response_result()
|
||||
return result
|
||||
|
||||
|
||||
def send_feedback(self, feedback_msg):
|
||||
"""Method to send feedback"""
|
||||
if self.goal_handle is not None:
|
||||
self.get_logger().info('Sending Feedback...')
|
||||
self.feedback_msg = feedback_msg
|
||||
self.goal_handle.publish_feedback(self.feedback_msg)
|
||||
|
||||
|
||||
def cancel_callback(self, goal):
|
||||
"""Accept or reject a client request to cancel an action."""
|
||||
self.get_logger().info('Received cancel request')
|
||||
self.cancel = True
|
||||
return CancelResponse.ACCEPT
|
||||
|
||||
#******************************************************************************#
|
||||
|
||||
class MinimalActionClient(Node):
|
||||
|
||||
def __init__(self, NODE_NAME, ACT_NAME, ACT_TYPE, get_result_callback=None, feedback_callback=None):
|
||||
"""MinimalActionCLien Input:\n
|
||||
NODE_NAME: name of the Node
|
||||
ACT_NAME: name of the action
|
||||
ACT_TYPE: type of the action (custom action file)
|
||||
get_result_callback=None: user defined function to receive the result of the action request
|
||||
feedback_callback=None: user defined function to receive the feedback during the action\n\n
|
||||
Best practice is to inherit this class and then override the 'get_result_callback' and 'feedback_callback' method
|
||||
in your own class with the same name."""
|
||||
self.NODE_NAME = NODE_NAME
|
||||
self.ACT_NAME = ACT_NAME
|
||||
self.ACT_TYPE = ACT_TYPE
|
||||
self._goal_handle = None
|
||||
|
||||
if get_result_callback == None:
|
||||
self.result_callback = self.get_result_callback
|
||||
else:
|
||||
self.result_callback = get_result_callback
|
||||
|
||||
if feedback_callback == None:
|
||||
self.feedback = self.feedback_callback
|
||||
else:
|
||||
self.feedback = feedback_callback
|
||||
|
||||
super().__init__(self.NODE_NAME)
|
||||
self._action_client = ActionClient(self, action_type=self.ACT_TYPE, action_name=self.ACT_NAME)
|
||||
|
||||
def send_action_goal(self, goal_msg=None):
|
||||
"""
|
||||
* request: first part of the action file
|
||||
|
||||
access values using class access:
|
||||
* goal.var_name
|
||||
"""
|
||||
self.goal = self.ACT_TYPE.Goal()
|
||||
|
||||
self.goal_msg = goal_msg
|
||||
#print(self.goal_msg.number)
|
||||
|
||||
# wait for server to be realdy
|
||||
self._action_client.wait_for_server()
|
||||
|
||||
# send goal with feedback clallback
|
||||
self._send_goal_future = self._action_client.send_goal_async(self.goal_msg, feedback_callback=self.feedback)
|
||||
|
||||
# get a response callback in the future
|
||||
self._send_goal_future.add_done_callback(self.goal_response_callback)
|
||||
|
||||
|
||||
|
||||
def goal_response_callback(self, future):
|
||||
self.goal_handle = future.result()
|
||||
|
||||
# chack if goal request was accepted
|
||||
if not self.goal_handle.accepted:
|
||||
self.get_logger().info('Goal rejected :(')
|
||||
return
|
||||
|
||||
self._goal_handle = self.goal_handle
|
||||
self.get_logger().info('Goal accepted :)')
|
||||
|
||||
# get result callback once request is done
|
||||
self._get_result_future = self.goal_handle.get_result_async()
|
||||
self._get_result_future.add_done_callback(self.result_callback)
|
||||
|
||||
|
||||
def get_result_callback(self, future):
|
||||
"""overwrite me
|
||||
* result: second part of the action file"""
|
||||
# get result
|
||||
# -----------
|
||||
# this is how to get the result:
|
||||
#result = future.result().result
|
||||
#sself.get_logger().info(f'Result: {result.success}')
|
||||
|
||||
self.get_logger().info('Get result function has been reached')
|
||||
|
||||
|
||||
def feedback_callback(self, feedback_msg):
|
||||
"""overwrite me"""
|
||||
# get feedback
|
||||
# -----------
|
||||
# this is how to get the feedback:
|
||||
#feedback = feedback_msg.feedback
|
||||
#self.get_logger().info(f'Received feedback: {feedback.current_number}')
|
||||
|
||||
self.get_logger().info('Feedback function has been reached')
|
||||
|
||||
|
||||
def cancel_done(self, future):
|
||||
# get result of cancel request
|
||||
cancel_response = future.result()
|
||||
if len(cancel_response.goals_canceling) > 0:
|
||||
self.get_logger().info('Goal successfully canceled')
|
||||
else:
|
||||
self.get_logger().info('Goal failed to cancel')
|
||||
|
||||
|
||||
def cancel_goal(self):
|
||||
"""Method to cancel the goal"""
|
||||
if self._goal_handle is not None:
|
||||
# send request to cancel goal
|
||||
self.get_logger().info('Canceling goal')
|
||||
# Cancel the goal
|
||||
future = self._goal_handle.cancel_goal_async()
|
||||
future.add_done_callback(self.cancel_done)
|
||||
@ -5,7 +5,7 @@ from rclpy.node import Node
|
||||
from custom_interfaces.srv import CustomSrv1
|
||||
|
||||
# Service Minimal Host and Client
|
||||
from pubsub.pubsub_library_v4 import MinimalServiceClientAsync
|
||||
from pubsub.pubsub_library_v3 import MinimalServiceClientAsync
|
||||
|
||||
|
||||
def main(args=None):
|
||||
|
||||
@ -5,13 +5,13 @@ from rclpy.node import Node
|
||||
from custom_interfaces.srv import CustomSrv1
|
||||
|
||||
# Service Minimal Host and Client
|
||||
from pubsub.pubsub_library_v4 import MinimalServiceProvider
|
||||
import pubsub.pubsub_library_v3 as lib
|
||||
|
||||
|
||||
def main(args=None):
|
||||
rclpy.init(args=args)
|
||||
|
||||
minimal_service = MinimalServiceProvider(NODE_NAME="Srv_host_test_node", SRV_NAME="test_srv", SRV_TYPE=CustomSrv1)
|
||||
minimal_service = lib.MinimalServiceProvider(NODE_NAME="Srv_host_test_node", SRV_NAME="test_srv", SRV_TYPE=CustomSrv1)
|
||||
|
||||
while rclpy.ok():
|
||||
try:
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
|
||||
from pubsub.pubsub_library_v4 import MinimalServiceClientAsync
|
||||
import pubsub.pubsub_library_v3 as lib
|
||||
|
||||
# Service Type Files
|
||||
from custom_interfaces.srv import StateMachineSrv
|
||||
@ -10,7 +10,7 @@ from custom_interfaces.srv import StateMachineSrv
|
||||
def main(args=None):
|
||||
rclpy.init(args=args)
|
||||
|
||||
client_cmd_srv = MinimalServiceClientAsync(NODE_NAME="client_cmd_srv_node", SRV_NAME="cmd", SRV_TYPE=StateMachineSrv)
|
||||
client_cmd_srv = lib.MinimalServiceClientAsync(NODE_NAME="client_cmd_srv_node", SRV_NAME="cmd", SRV_TYPE=StateMachineSrv)
|
||||
|
||||
# Create request
|
||||
srv_request = StateMachineSrv.Request()
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
|
||||
from pubsub.pubsub_library_v4 import MinimalServiceProvider
|
||||
from pubsub.pubsub_library_v3 import MinimalServiceProvider
|
||||
|
||||
# Service Type Files
|
||||
from custom_interfaces.srv import StateMachineSrv
|
||||
|
||||
@ -18,7 +18,7 @@ import rclpy
|
||||
from rclpy.node import Node
|
||||
|
||||
# Import Subscriber Library
|
||||
from pubsub.pubsub_library_v4 import MinimalSubscriber
|
||||
from .pubsub_library_v3 import MinimalSubscriber
|
||||
|
||||
# Import Message Types
|
||||
from custom_interfaces.msg import CustomMsg1
|
||||
|
||||
@ -18,7 +18,7 @@ import rclpy
|
||||
from rclpy.node import Node
|
||||
|
||||
# Import Publisher Library (Python Library)
|
||||
from pubsub.pubsub_library_v4 import MinimalPublisher
|
||||
from .pubsub_library import MinimalPublisher
|
||||
|
||||
# Import Message Types (Message Files)
|
||||
from custom_interfaces.msg import CustomMsg1
|
||||
|
||||
@ -25,10 +25,7 @@ setup(
|
||||
'srvhost = pubsub.service_host:main',
|
||||
'srvclient = pubsub.service_client:main',
|
||||
'smhost = pubsub.statemachine_host_example:main',
|
||||
'smclient = pubsub.statemachine_client_example:main',
|
||||
'actclient = pubsub.action_client_example:main',
|
||||
'actserver = pubsub.action_server_example:main',
|
||||
'actsub = pubsub.sub:main',
|
||||
'smclient = pubsub.statemachine_client_example:main'
|
||||
],
|
||||
},
|
||||
)
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
@ -1,59 +0,0 @@
|
||||
cmake_minimum_required(VERSION 3.5)
|
||||
project(pubsub_msg)
|
||||
|
||||
# Default to C99
|
||||
if(NOT CMAKE_C_STANDARD)
|
||||
set(CMAKE_C_STANDARD 99)
|
||||
endif()
|
||||
|
||||
# Default to C++14
|
||||
if(NOT CMAKE_CXX_STANDARD)
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
endif()
|
||||
|
||||
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
add_compile_options(-Wall -Wextra -Wpedantic)
|
||||
endif()
|
||||
|
||||
# find dependencies
|
||||
find_package(ament_cmake REQUIRED)
|
||||
# uncomment the following section in order to fill in
|
||||
# further dependencies manually.
|
||||
# find_package(<dependency> REQUIRED)
|
||||
|
||||
|
||||
|
||||
|
||||
# -->
|
||||
# ADD THESE LINES: START HERE
|
||||
|
||||
find_package(builtin_interfaces REQUIRED)
|
||||
find_package(rosidl_default_generators REQUIRED)
|
||||
find_package(std_msgs REQUIRED)
|
||||
find_package(rclcpp REQUIRED)
|
||||
|
||||
# CUSTOM LINES: CHANGE FOR YOUR FILENAMES
|
||||
rosidl_generate_interfaces(${PROJECT_NAME}
|
||||
"msg/CustomMsg1.msg"
|
||||
"msg/CustomMsg2.msg"
|
||||
DEPENDENCIES builtin_interfaces
|
||||
)
|
||||
|
||||
# END HERE
|
||||
# <--
|
||||
|
||||
|
||||
|
||||
|
||||
if(BUILD_TESTING)
|
||||
find_package(ament_lint_auto REQUIRED)
|
||||
# the following line skips the linter which checks for copyrights
|
||||
# uncomment the line when a copyright and license is not present in all source files
|
||||
#set(ament_cmake_copyright_FOUND TRUE)
|
||||
# the following line skips cpplint (only works in a git repo)
|
||||
# uncomment the line when this package is not in a git repo
|
||||
#set(ament_cmake_cpplint_FOUND TRUE)
|
||||
ament_lint_auto_find_test_dependencies()
|
||||
endif()
|
||||
|
||||
ament_package()
|
||||
@ -1,8 +0,0 @@
|
||||
# Header data, eg timestamp
|
||||
# Problem: "header__struct.hpp: No such file or directory"
|
||||
#Header header
|
||||
|
||||
# Sensor Data coming back from an array of atmospheric sensors
|
||||
float32[] temperature
|
||||
float32[] pressure
|
||||
float32[] humidity
|
||||
@ -1,7 +0,0 @@
|
||||
# Header data, eg timestamp
|
||||
# Problem: "header__struct.hpp: No such file or directory"
|
||||
#Header header
|
||||
|
||||
# User inputs, eg. for controlling a camera mast , eg. set angles [rad]
|
||||
float32 pitch_ctrl
|
||||
float32 yaw_ctrl
|
||||
@ -1,34 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>pubsub_msg</name>
|
||||
<version>0.0.0</version>
|
||||
<description>TODO: Package description</description>
|
||||
<maintainer email="winterhalder.p@googlemail.com">patrick</maintainer>
|
||||
<license>TODO: License declaration</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
|
||||
|
||||
|
||||
|
||||
<!-- ADD THESE LINES: START HERE -->
|
||||
<build_depend>builtin_interfaces</build_depend>
|
||||
<build_depend>rosidl_default_generators</build_depend>
|
||||
|
||||
<exec_depend>builtin_interfaces</exec_depend>
|
||||
<exec_depend>rosidl_default_runtime</exec_depend>
|
||||
|
||||
<member_of_group>rosidl_interface_packages</member_of_group>
|
||||
<!-- END HERE -->
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
Reference in New Issue
Block a user