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Romain Vitrat 3 years ago
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70884fbf0b

+ 67
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src/CMakeLists.txt View File

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+# toplevel CMakeLists.txt for a catkin workspace
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+# catkin/cmake/toplevel.cmake
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+
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+cmake_minimum_required(VERSION 2.8.3)
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+
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+set(CATKIN_TOPLEVEL TRUE)
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+
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+# search for catkin within the workspace
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+set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
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+execute_process(COMMAND ${_cmd}
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+  RESULT_VARIABLE _res
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+  OUTPUT_VARIABLE _out
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+  ERROR_VARIABLE _err
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+  OUTPUT_STRIP_TRAILING_WHITESPACE
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+  ERROR_STRIP_TRAILING_WHITESPACE
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+)
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+if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
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+  # searching fot catkin resulted in an error
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+  string(REPLACE ";" " " _cmd_str "${_cmd}")
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+  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
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+endif()
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+
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+# include catkin from workspace or via find_package()
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+if(_res EQUAL 0)
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+  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
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+  # include all.cmake without add_subdirectory to let it operate in same scope
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+  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
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+  add_subdirectory("${_out}")
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+
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+else()
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+  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
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+  # or CMAKE_PREFIX_PATH from the environment
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+  if(NOT DEFINED CMAKE_PREFIX_PATH)
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+    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
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+      if(NOT WIN32)
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+        string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
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+      else()
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+        set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
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+      endif()
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+    endif()
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+  endif()
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+
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+  # list of catkin workspaces
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+  set(catkin_search_path "")
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+  foreach(path ${CMAKE_PREFIX_PATH})
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+    if(EXISTS "${path}/.catkin")
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+      list(FIND catkin_search_path ${path} _index)
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+      if(_index EQUAL -1)
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+        list(APPEND catkin_search_path ${path})
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+      endif()
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+    endif()
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+  endforeach()
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+
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+  # search for catkin in all workspaces
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+  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
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+  find_package(catkin QUIET
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+    NO_POLICY_SCOPE
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+    PATHS ${catkin_search_path}
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+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
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+  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
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+
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+  if(NOT catkin_FOUND)
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+    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
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+  endif()
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+endif()
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+
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+catkin_workspace()

+ 217
- 0
src/scanerapi_sample_ros_gateway_folder/CMakeLists.txt View File

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+cmake_minimum_required(VERSION 2.8.3)
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+project(scanerapi_sample_ros_gateway_folder)
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+
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+## Compile as C++11, supported in ROS Kinetic and newer
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+# add_compile_options(-std=c++11)
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+
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+## Find catkin macros and libraries
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+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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+## is used, also find other catkin packages
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+find_package(catkin REQUIRED COMPONENTS
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+  roscpp
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+  std_msgs
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+)
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+
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+## System dependencies are found with CMake's conventions
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+# find_package(Boost REQUIRED COMPONENTS system)
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+
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+
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+## Uncomment this if the package has a setup.py. This macro ensures
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+## modules and global scripts declared therein get installed
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+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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+# catkin_python_setup()
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+
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+################################################
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+## Declare ROS messages, services and actions ##
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+################################################
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+
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+## To declare and build messages, services or actions from within this
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+## package, follow these steps:
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+## * Let MSG_DEP_SET be the set of packages whose message types you use in
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+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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+## * In the file package.xml:
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+##   * add a build_depend tag for "message_generation"
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+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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+##     but can be declared for certainty nonetheless:
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+##     * add a exec_depend tag for "message_runtime"
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+## * In this file (CMakeLists.txt):
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+##   * add "message_generation" and every package in MSG_DEP_SET to
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+##     find_package(catkin REQUIRED COMPONENTS ...)
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+##   * add "message_runtime" and every package in MSG_DEP_SET to
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+##     catkin_package(CATKIN_DEPENDS ...)
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+##   * uncomment the add_*_files sections below as needed
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+##     and list every .msg/.srv/.action file to be processed
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+##   * uncomment the generate_messages entry below
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+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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+
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+## Generate messages in the 'msg' folder
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+# add_message_files(
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+#   FILES
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+#   Message1.msg
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+#   Message2.msg
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+# )
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+
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+## Generate services in the 'srv' folder
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+# add_service_files(
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+#   FILES
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+#   Service1.srv
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+#   Service2.srv
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+# )
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+
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+## Generate actions in the 'action' folder
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+# add_action_files(
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+#   FILES
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+#   Action1.action
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+#   Action2.action
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+# )
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+
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+## Generate added messages and services with any dependencies listed here
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+# generate_messages(
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+#   DEPENDENCIES
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+#   std_msgs
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+# )
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+
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+################################################
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+## Declare ROS dynamic reconfigure parameters ##
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+################################################
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+
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+## To declare and build dynamic reconfigure parameters within this
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+## package, follow these steps:
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+## * In the file package.xml:
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+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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+## * In this file (CMakeLists.txt):
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+##   * add "dynamic_reconfigure" to
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+##     find_package(catkin REQUIRED COMPONENTS ...)
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+##   * uncomment the "generate_dynamic_reconfigure_options" section below
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+##     and list every .cfg file to be processed
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+
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+## Generate dynamic reconfigure parameters in the 'cfg' folder
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+# generate_dynamic_reconfigure_options(
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+#   cfg/DynReconf1.cfg
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+#   cfg/DynReconf2.cfg
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+# )
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+
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+###################################
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+## catkin specific configuration ##
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+###################################
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+## The catkin_package macro generates cmake config files for your package
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+## Declare things to be passed to dependent projects
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+## INCLUDE_DIRS: uncomment this if your package contains header files
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+## LIBRARIES: libraries you create in this project that dependent projects also need
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+## CATKIN_DEPENDS: catkin_packages dependent projects also need
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+## DEPENDS: system dependencies of this project that dependent projects also need
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+catkin_package(
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+#  INCLUDE_DIRS include
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+#  LIBRARIES scaner_ros_gateway
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+#  CATKIN_DEPENDS roscpp std_msgs
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+#  DEPENDS system_lib
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+)
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+
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+###########
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+## Build ##
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+###########
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+
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+## Specify additional locations of header files
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+## Your package locations should be listed before other locations
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+include_directories(
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+# include
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+../../../../../../include
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+  ${catkin_INCLUDE_DIRS}
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+)
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+
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+link_directories(
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+../../../../../../../bin/Linux/ubuntu/16.04/lib
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+../../../../../../../bin/Linux/ubuntu/16.04/lib/external
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+)
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+
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+## Declare a C++ library
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+# add_library(${PROJECT_NAME}
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+#   src/${PROJECT_NAME}/scaner_ros_gateway.cpp
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+#   src/${PROJECT_NAME}/scaner_ros_receive.cpp
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+# )
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+
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+## Add cmake target dependencies of the library
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+## as an example, code may need to be generated before libraries
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+## either from message generation or dynamic reconfigure
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+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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+
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+## Declare a C++ executable
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+## With catkin_make all packages are built within a single CMake context
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+## The recommended prefix ensures that target names across packages don't collide
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+add_executable(scanerapi_sample_ros_transmit_node src/scanerapi_sample_ros_transmit.cpp)
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+add_executable(scanerapi_sample_ros_receive_node src/scanerapi_sample_ros_receive.cpp)
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+
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+## Rename C++ executable without prefix
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+## The above recommended prefix causes long target names, the following renames the
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+## target back to the shorter version for ease of user use
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+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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+
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+## Add cmake target dependencies of the executable
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+## same as for the library above
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+add_dependencies(scanerapi_sample_ros_transmit_node ${scanerapi_sample_ros_transmit_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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+add_dependencies(scanerapi_sample_ros_receive_node ${scanerapi_sample_ros_receive_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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+
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+## Specify libraries to link a library or executable target against
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+target_link_libraries(scanerapi_sample_ros_transmit_node libScanerAPI.so
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+   ${catkin_LIBRARIES}
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+)
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+target_link_libraries(scanerapi_sample_ros_receive_node libScanerAPI.so
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+   ${catkin_LIBRARIES}
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+)
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+
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+#############
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+## Install ##
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+#############
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+
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+# all install targets should use catkin DESTINATION variables
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+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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+
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+## Mark executable scripts (Python etc.) for installation
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+## in contrast to setup.py, you can choose the destination
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+# install(PROGRAMS
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+#   scripts/my_python_script
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+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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+# )
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+
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+## Mark executables for installation
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+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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+# install(TARGETS ${PROJECT_NAME}_node
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+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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+# )
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+
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+## Mark libraries for installation
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+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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+# install(TARGETS ${PROJECT_NAME}
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+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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+# )
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+
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+## Mark cpp header files for installation
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+# install(DIRECTORY include/${PROJECT_NAME}/
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+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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+#   FILES_MATCHING PATTERN "*.h"
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+#   PATTERN ".svn" EXCLUDE
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+# )
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+
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+## Mark other files for installation (e.g. launch and bag files, etc.)
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+# install(FILES
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+#   # myfile1
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+#   # myfile2
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+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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+# )
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+
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+#############
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+## Testing ##
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+#############
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+
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+## Add gtest based cpp test target and link libraries
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+# catkin_add_gtest(${PROJECT_NAME}-test test/test_scaner_ros_gateway.cpp)
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+# if(TARGET ${PROJECT_NAME}-test)
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+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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+# endif()
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+
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+## Add folders to be run by python nosetests
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+# catkin_add_nosetests(test)

+ 68
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src/scanerapi_sample_ros_gateway_folder/package.xml View File

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+<?xml version="1.0"?>
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+<package format="2">
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+  <name>scanerapi_sample_ros_gateway_folder</name>
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+  <version>0.0.0</version>
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+  <description>The scanerapi_sample_ros_gateway_folder package</description>
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+
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+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
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+  <!-- Example:  -->
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+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
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+  <maintainer email="root@todo.todo">root</maintainer>
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+
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+
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+  <!-- One license tag required, multiple allowed, one license per tag -->
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+  <!-- Commonly used license strings: -->
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+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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+  <license>TODO</license>
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+
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+
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+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
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+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
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+  <!-- Example: -->
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+  <!-- <url type="website">http://wiki.ros.org/scanerapi_sample_ros_gateway_folder</url> -->
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+
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+
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+  <!-- Author tags are optional, multiple are allowed, one per tag -->
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+  <!-- Authors do not have to be maintainers, but could be -->
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+  <!-- Example: -->
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+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
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+
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+
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+  <!-- The *depend tags are used to specify dependencies -->
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+  <!-- Dependencies can be catkin packages or system dependencies -->
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+  <!-- Examples: -->
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+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
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+  <!--   <depend>roscpp</depend> -->
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+  <!--   Note that this is equivalent to the following: -->
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+  <!--   <build_depend>roscpp</build_depend> -->
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+  <!--   <exec_depend>roscpp</exec_depend> -->
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+  <!-- Use build_depend for packages you need at compile time: -->
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+  <!--   <build_depend>message_generation</build_depend> -->
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+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
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+  <!--   <build_export_depend>message_generation</build_export_depend> -->
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+  <!-- Use buildtool_depend for build tool packages: -->
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+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
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+  <!-- Use exec_depend for packages you need at runtime: -->
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+  <!--   <exec_depend>message_runtime</exec_depend> -->
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+  <!-- Use test_depend for packages you need only for testing: -->
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+  <!--   <test_depend>gtest</test_depend> -->
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+  <!-- Use doc_depend for packages you need only for building documentation: -->
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+  <!--   <doc_depend>doxygen</doc_depend> -->
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+  <buildtool_depend>catkin</buildtool_depend>
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+  <build_depend>roscpp</build_depend>
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+  <build_depend>scanerapi_sample_ros_gateway</build_depend>
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+  <build_depend>std_msgs</build_depend>
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+  <build_export_depend>roscpp</build_export_depend>
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+  <build_export_depend>scanerapi_sample_ros_gateway</build_export_depend>
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+  <build_export_depend>std_msgs</build_export_depend>
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+  <exec_depend>roscpp</exec_depend>
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+  <exec_depend>scanerapi_sample_ros_gateway</exec_depend>
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+  <exec_depend>std_msgs</exec_depend>
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+
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+
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+  <!-- The export tag contains other, unspecified, tags -->
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+  <export>
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+    <!-- Other tools can request additional information be placed here -->
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+
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+  </export>
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+</package>

+ 44
- 0
src/scanerapi_sample_ros_gateway_folder/src/scanerapi_sample_ros_receive.cpp View File

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+#include "ros/ros.h"
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+#include "std_msgs/String.h"
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+#include "ScanerAPI/scanerAPI_DLL_C.h" //SCANeRTM API: C language Functions
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+#include "ScanerAPI/ScanerAPImessagesNetwork.h" //SCANeRTM API: Network utils
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+#include "ScanerAPI/ScanerAPImessagesShm.h"
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+#include <sstream>
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+
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+
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+
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+int main(int argc, char **argv)
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+{
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+	std_msgs::String msg;
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+	std::stringstream ss;
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+	float speed=0.0;
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+	ros::init(argc, argv, "scanerAPI_sample_ros_receive");
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+	ros::NodeHandle p;
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+	Process_Init(argc, argv); //SCANeRTM API: Process initialization
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+	//Instantiation of  the publisher, it will send data msg to the calculator
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+	ros::Publisher speed_pub = p.advertise<std_msgs::String>("speed_sensed", 100000);
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+
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+	//Definition on a vehicle interface to get any data from the vehicle 
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+	DataInterface* vehicle_0_in = Com_declareInputData(NETWORK_IVEHICLE_VEHICLEUPDATE, 0);
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+
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+	while (ros::ok())
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+	{
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+		Process_Wait(); //SCANeRTM API: Frequency synchronization
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+		Process_Run(); //SCANeRTM API: Run the process
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+		if (Process_GetState() == PS_RUNNING) //SCANeRTM API: The simulation is running
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+		{
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+			Com_updateInputs(UT_AllData); //SCANeRTM API: Update input data (data to read)
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+			speed=Com_getFloatData(vehicle_0_in, "speed[0]")*3.6; //SCANeRTM API: Read vehicle 0’s speed on X;//SCANeRTM API: Read vehicle 0’s speed.
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+			ss << speed;
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+			msg.data = ss.str();
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+			ss.str("");
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+			//Here we show the value on the terminal to check it first before sending it
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+			ROS_INFO("%s", msg.data.c_str());
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+			//Here we publish the value to the calculator node
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+			speed_pub.publish(msg);
39
+			ros::spinOnce();
40
+		}
41
+	}
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+	Process_Close(); //SCANeRTM API: Clean way to stop the SCANeRTM module
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+	return 0;
44
+}

+ 53
- 0
src/scanerapi_sample_ros_gateway_folder/src/scanerapi_sample_ros_transmit.cpp View File

1
+#include "ros/ros.h"
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+#include "std_msgs/String.h"
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+#include "ScanerAPI/scanerAPI_DLL_C.h" //SCANeRTM API: C language Functions
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+#include "ScanerAPI/ScanerAPImessagesNetwork.h" //SCANeRTM API: Network utils
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+#include "ScanerAPI/ScanerAPImessagesShm.h"
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+#include <sstream>
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+
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+unsigned int value_received ;
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+
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+//Test function and acquisition of the value computedby the calculator node
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+void chatterCallback(const std_msgs::String::ConstPtr& msg)
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+{
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+	std::istringstream myStream (msg->data.c_str());
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+	myStream >> value_received ;
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+	//To demonstrate that the communicaiton works fine, we illustrate it by showing the value received divided by 5. 
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+	std::cout << "The value received divided by 5 is : " << value_received/5 << std::endl ;
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+}
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+
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+int main(int argc, char **argv)
20
+{
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+	ros::init(argc, argv, "scanerAPI_sample_ros_transmit");
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+	ros::NodeHandle n;
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+	Process_Init(argc, argv); //SCANeRTM API: Process initialization
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+	ros::Subscriber sub_to_calculator = n.subscribe("response", 1000, chatterCallback);
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+	bool isOk1=false;
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+
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+	DataInterface* vehicle_0_model_corrective_out = Com_declareOutputData(SHM_MODELCABIN_CABTOMODELCORRECTIVE, 0);
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+
29
+	while (ros::ok())
30
+	{
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+		Process_Wait(); //SCANeRTM API: Frequency synchronization	
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+		Process_Run(); //SCANeRTM API: Run the process
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+		if (Process_GetState() == PS_RUNNING) //SCANeRTM API: The simulation is running
34
+		{
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+
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+			//Example of treatment after receiving a value from SCaner (In this big example it is the speed but it would be a sensor value
37
+			// in real conditions)
38
+			if(value_received>5){
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+				Com_setDoubleData(vehicle_0_model_corrective_out,"AcceleratorAdditive",(double)value_received);
40
+				Com_setDoubleData(vehicle_0_model_corrective_out,"AcceleratorMultiplicative",0.0);
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+				Com_setDoubleData(vehicle_0_model_corrective_out,"BrakeAdditive",50.0);
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+				Com_setDoubleData(vehicle_0_model_corrective_out,"BrakeMultiplicative",0.0);
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+			}
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+			
45
+			Com_updateOutputs(UT_AllData);
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+			//ROS_INFO("%s", msg.data.c_str());
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+			ros::spinOnce();
48
+		}
49
+	}
50
+	Process_Close(); //SCANeRTM API: Clean way to stop the SCANeRTM module
51
+	return 0;
52
+}
53
+

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