Skip to content
GitLab
Menu
Projects
Groups
Snippets
Loading...
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Sign in
Toggle navigation
Menu
Open sidebar
Pierre NARVOR
seatrac_driver
Commits
48c973e6
Commit
48c973e6
authored
Aug 31, 2021
by
Pierre NARVOR
Browse files
[ros] Added base of a ros1 node
parent
e2e88037
Changes
3
Hide whitespace changes
Inline
Side-by-side
ros/CMakeLists.txt
0 → 100644
View file @
48c973e6
cmake_minimum_required
(
VERSION 3.10
)
project
(
seatrac_usbl VERSION 0.1
)
find_package
(
seatrac_driver REQUIRED
)
find_package
(
Eigen3 REQUIRED
)
find_package
(
catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
geometry_msgs
)
catkin_package
(
CATKIN_DEPENDS roscpp rospy std_msgs geometry_msgs
)
# replace with target include directories ?
include_directories
(
${
catkin_INCLUDE_DIRS
}
)
add_executable
(
seatrac_usbl_node
src/seatrac_usbl_node.cpp
)
target_include_directories
(
seatrac_usbl_node PRIVATE src
)
target_link_libraries
(
seatrac_usbl_node PRIVATE
${
catkin_LIBRARIES
}
seatrac_driver
Eigen3::Eigen
)
ros/package.xml
0 → 100644
View file @
48c973e6
<?xml version="1.0"?>
<package
format=
"2"
>
<name>
seatrac_usbl
</name>
<version>
0.0.1
</version>
<description>
ROS node for Blueprint Seatrac USBL
</description>
<maintainer
email=
"pierre.narvor@ensta-bretagne.fr"
>
Pierre Narvor
</maintainer>
<license>
BSD3
</license>
<buildtool_depend>
catkin
</buildtool_depend>
<build_depend>
roscpp
</build_depend>
<build_depend>
rospy
</build_depend>
<build_depend>
std_msgs
</build_depend>
<build_depend>
geometry_msgs
</build_depend>
<build_export_depend>
roscpp
</build_export_depend>
<build_export_depend>
rospy
</build_export_depend>
<build_export_depend>
std_msgs
</build_export_depend>
<build_export_depend>
geometry_msgs
</build_export_depend>
<exec_depend>
roscpp
</exec_depend>
<exec_depend>
rospy
</exec_depend>
<exec_depend>
std_msgs
</exec_depend>
<build_depend>
message_generation
</build_depend>
<exec_depend>
message_runtime
</exec_depend>
</package>
ros/src/seatrac_usbl_node.cpp
0 → 100644
View file @
48c973e6
#include <iostream>
using
namespace
std
;
#include <ros/ros.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <seatrac_driver/AsyncService.h>
#include <seatrac_driver/SeatracDriver.h>
using
namespace
narval
::
seatrac
;
int
main
(
int
argc
,
char
**
argv
)
{
ros
::
init
(
argc
,
argv
,
"seatrac_usbl"
);
ros
::
NodeHandle
node
(
"seatrac_usbl"
);
AsyncService
service
;
SeatracDriver
serial
(
service
.
io_service
(),
"/dev/ttyUSB0"
);
service
.
start
();
ros
::
spin
();
service
.
stop
();
// ros::Publisher publisher = node.advertise
// <geometry_msgs::PoseWithCovarianceStamped>("pose", 100);
// Eigen::Quaternionf dq;
// dq.w() = cos(0.1);
// dq.x() = 0.0;
// dq.y() = 0.0;
// dq.z() = sin(0.1);
// Eigen::Quaternionf q0;
// q0.w() = 1.0;
// q0.x() = 0.0;
// q0.y() = 0.0;
// q0.z() = 0.0;
// geometry_msgs::PoseWithCovarianceStamped pose;
// pose.header.frame_id = "map";
// for(int i = 0; i < 36; i++) {
// pose.pose.covariance[i] = 0.0;
// }
// pose.pose.pose.position.x = 0.0;
// pose.pose.pose.position.y = 0.0;
// pose.pose.pose.position.z = 0.0;
// pose.pose.pose.orientation.w = q0.w();
// pose.pose.pose.orientation.x = q0.x();
// pose.pose.pose.orientation.y = q0.y();
// pose.pose.pose.orientation.z = q0.z();
// ros::Rate loopRate(10);
// while(ros::ok()) {
// q0 = q0 * dq;
// pose.pose.pose.orientation.w = q0.w();
// pose.pose.pose.orientation.x = q0.x();
// pose.pose.pose.orientation.y = q0.y();
// pose.pose.pose.orientation.z = q0.z();
// publisher.publish(pose);
// ros::spinOnce();
// loopRate.sleep();
// }
return
0
;
}
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
.
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment