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BorjaOutereloBorjaOuterelo
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Merge pull request #1 from microROS/develop
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‎C/RAD0_actuator/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
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project(rad0_actuator_c)
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find_package(ament_cmake REQUIRED)
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find_package(rclc QUIET)
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find_package(std_msgs REQUIRED)
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# Do not compile package if rclcpp is not found
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if (NOT rclc_FOUND)
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message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
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ament_package()
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return()
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endif()
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add_executable(${PROJECT_NAME} main.c)
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ament_target_dependencies(${PROJECT_NAME} rclc std_msgs)
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install(TARGETS
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${PROJECT_NAME}
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()

‎C/RAD0_actuator/main.c‎

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#include <rclc/rclc.h>
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#include <std_msgs/msg/string.h>
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#include <std_msgs/msg/int32.h>
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#include <std_msgs/msg/u_int32.h>
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#include <stdio.h>
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#define ASSERT(ptr) if (ptr == NULL) return -1;
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static rclc_publisher_t* engine_pub;
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static uint32_t engine_power = 100;
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void engine_on_message(const void* msgin)
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{
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const std_msgs__msg__Int32* msg = (const std_msgs__msg__Int32*)msgin;
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if (msg->data + engine_power > 0)
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{
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engine_power += msg->data;
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}
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else
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{
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engine_power = 0;
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}
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// Publish new altitude
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std_msgs__msg__UInt32 msg_out;
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msg_out.data = engine_power;
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rclc_publish(engine_pub, (const void*)&msg_out);
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}
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int main(int argc, char* argv[])
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{
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(void)argc;
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(void)argv;
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rclc_node_t* node = NULL;
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rclc_subscription_t* engine_sub = NULL;
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rclc_init(0, NULL);
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node = rclc_create_node("rad0_actuator_c", "");
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ASSERT(node);
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engine_sub = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "std_msgs_msg_Int32", engine_on_message, 1, false);
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ASSERT(engine_sub);
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engine_pub = rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, UInt32), "std_msgs_msg_UInt32", 1);
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ASSERT(engine_pub);
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// Publish new altitude
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std_msgs__msg__UInt32 msg_out;
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msg_out.data = engine_power;
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rclc_publish(engine_pub, (const void*)&msg_out);
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rclc_spin_node(node);
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//if (altitude_sub) rclc_destroy_subscription(altitude_sub);
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if (engine_sub) rclc_destroy_subscription(engine_sub);
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if (engine_pub) rclc_destroy_publisher(engine_pub);
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if (node) rclc_destroy_node(node);
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printf("Actuator node closed.\n");
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return 0;
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}

‎C/RAD0_actuator/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>rad0_actuator_c</name>
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<version>0.0.1</version>
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<description>Real apliacion demostration. Actuator node</description>
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<maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>rclc</build_depend>
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<build_depend>std_msgs</build_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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‎C/RAD0_altitude_sensor/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
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project(rad0_altitude_sensor_c)
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find_package(ament_cmake REQUIRED)
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find_package(rclc QUIET)
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find_package(std_msgs REQUIRED)
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# Do not compile package if rclcpp is not found
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if (NOT rclc_FOUND)
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message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
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ament_package()
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return()
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endif()
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add_executable(${PROJECT_NAME} main.c)
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ament_target_dependencies(${PROJECT_NAME} rclc std_msgs)
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target_link_libraries(${PROJECT_NAME} m)
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install(TARGETS
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${PROJECT_NAME}
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()

‎C/RAD0_altitude_sensor/main.c‎

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#include <rclc/rclc.h>
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#include <std_msgs/msg/float64.h>
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#include <std_msgs/msg/int32.h>
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#include <stdio.h>
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#include <math.h>
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#include <time.h>
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#define ASSERT(ptr) if (ptr == NULL) return -1;
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/**
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* @brief
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*
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* @param argc
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* @param argv
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* @return int
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*/
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int main(int argc, char *argv[])
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{
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(void)argc;
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(void)argv;
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rclc_init(0, NULL);
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rclc_node_t* node = NULL;
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rclc_publisher_t* publisher = NULL;
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node = rclc_create_node("rad0_altitude_sensor_c", "");
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ASSERT(node);
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publisher = rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float64), "std_msgs_msg_Float64", 1);
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ASSERT(publisher);
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double A = 0;
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while (rclc_ok())
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{
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A += 0.0001;
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// Publish new altitude
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std_msgs__msg__Float64 msg;
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msg.data = 500 * sin(A) + 950;
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rclc_publish(publisher, (const void*)&msg);
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// Spin node
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rclc_spin_node_once(node, 0);
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}
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if (publisher) rclc_destroy_publisher(publisher);
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if (node) rclc_destroy_node(node);
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printf("altitude sendor closed.\n");
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return 0;
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}

‎C/RAD0_altitude_sensor/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>rad0_altitude_sensor_c</name>
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<version>0.0.1</version>
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<description>Real apliacion demostration. Position sensor node</description>
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<maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>rclc</build_depend>
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<build_depend>std_msgs</build_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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‎C/RAD0_display/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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set(CMAKE_CXX_CLANG_TIDY clang-tidy -checks=*)
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project(rad0_display_c)
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find_package(ament_cmake REQUIRED)
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find_package(rclc QUIET)
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find_package(std_msgs REQUIRED)
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# Do not compile package if rclcpp is not found
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if (NOT rclc_FOUND)
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message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
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ament_package()
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return()
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endif()
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add_executable(${PROJECT_NAME} main.c)
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ament_target_dependencies(${PROJECT_NAME} rclc std_msgs)
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install(TARGETS
20+
${PROJECT_NAME}
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()

‎C/RAD0_display/main.c‎

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#include <rclc/rclc.h>
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#include <std_msgs/msg/string.h>
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#include <std_msgs/msg/float64.h>
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#include <std_msgs/msg/int32.h>
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#include <std_msgs/msg/u_int32.h>
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#include <stdio.h>
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#define ASSERT(ptr) if (ptr == NULL) return -1;
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static float altitude;
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static uint32_t engine_power;
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static unsigned it;
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static char Alert[200];
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/**
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* @brief Update screen
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*
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*/
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void UpdateDisplay()
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{
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printf("\r[received messages: %7u] [Altitude: %8.2f] [Engine power: %8u] [Status: %10s]", it++, altitude, engine_power, Alert);
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}
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/**
27+
* @brief new alert callback
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*
29+
* @param msgin
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*/
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void on_alert_message(const void* msgin)
32+
{
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const std_msgs__msg__String* msg = (const std_msgs__msg__String*)msgin;
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strcpy(Alert, msg->data.data);
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UpdateDisplay();
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}
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/**
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* @brief new altitude calback
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*
43+
* @param msgin
44+
*/
45+
void on_altitude_message(const void* msgin)
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{
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std_msgs__msg__Float64* msg = (std_msgs__msg__Float64*)msgin;
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altitude = msg->data;
50+
UpdateDisplay();
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}
52+
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/**
54+
* @brief
55+
*
56+
* @param msgin
57+
*/
58+
void on_power_message(const void* msgin)
59+
{
60+
std_msgs__msg__UInt32* msg = (std_msgs__msg__UInt32*)msgin;
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engine_power = msg->data;
63+
UpdateDisplay();
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}
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/**
68+
* @brief Main
69+
*
70+
* @param argc
71+
* @param argv
72+
* @return int
73+
*/
74+
int main(int argc, char *argv[])
75+
{
76+
(void)argc;
77+
(void)argv;
78+
79+
rclc_node_t* node = NULL;
80+
rclc_subscription_t* alert_subscription = NULL;
81+
rclc_subscription_t* altitude_subscription = NULL;
82+
rclc_subscription_t* power_subscription = NULL;
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rclc_init(0, NULL);
86+
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node = rclc_create_node("rad0_display_c", "");
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ASSERT(node);
89+
alert_subscription = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String), "std_msgs_msg_String", on_alert_message, 1, false);
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ASSERT(alert_subscription);
91+
altitude_subscription = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float64), "std_msgs_msg_Float64", on_altitude_message, 1, false);
92+
ASSERT(altitude_subscription);
93+
power_subscription = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, UInt32), "std_msgs_msg_UInt32", on_power_message, 1, false);
94+
ASSERT(power_subscription);
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rclc_spin_node(node);
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if (alert_subscription) rclc_destroy_subscription(alert_subscription);
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if (altitude_subscription) rclc_destroy_subscription(altitude_subscription);
100+
if (node) rclc_destroy_node(node);
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printf("Display node closed.");
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}

‎C/RAD0_display/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
3+
<package format="3">
4+
<name>rad0_display_c</name>
5+
<version>0.0.1</version>
6+
<description>Real apliacion demostration. Display on screen any message</description>
7+
<maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
8+
<license>Apache License 2.0</license>
9+
<buildtool_depend>ament_cmake</buildtool_depend>
10+
<build_depend>rclc</build_depend>
11+
<build_depend>std_msgs</build_depend>
12+
<export>
13+
<build_type>ament_cmake</build_type>
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</export>
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</package>
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‎C/complex_msg_publisher/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
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project(complex_msg_publisher_c)
4+
5+
find_package(ament_cmake REQUIRED)
6+
find_package(rclc QUIET)
7+
find_package(complex_msgs REQUIRED)
8+
9+
# Do not compile package if rclcpp is not found
10+
if (NOT rclc_FOUND)
11+
message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
12+
ament_package()
13+
return()
14+
endif()
15+
16+
add_executable(${PROJECT_NAME} main.c)
17+
ament_target_dependencies(${PROJECT_NAME} rclc complex_msgs)
18+
19+
install(TARGETS
20+
${PROJECT_NAME}
21+
DESTINATION lib/${PROJECT_NAME}
22+
)
23+
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ament_package()

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