Merge pull request #57 from mROS-base/v0.2.4

V0.2.4

.gitignore

@@ -20,3 +20,6 @@ gen/
 .project
 .settings/
 *.launch
+
+# generated header files of custom msgs
+mros2_msgs/

.vscode/settings.json

@@ -0,0 +1,46 @@
+{
+    "files.associations": {
+        "array": "cpp",
+        "string_view": "cpp",
+        "initializer_list": "cpp",
+        "utility": "cpp",
+        "atomic": "cpp",
+        "*.tcc": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "optional": "cpp",
+        "string": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "fstream": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "cinttypes": "cpp",
+        "typeinfo": "cpp"
+    }
+}

makefiles/Makefile.mros2

@@ -7,6 +7,8 @@ MROS2DIR := $(ROOTDIR)/mros2
 INCLUDES += -I$(MROS2DIR)/include
 INCLUDES += -I$(MROS2DIR)/mros2_msgs
 
+INCLUDES += -I$(ROOTDIR)/mros2_msgs
+
 APPLDIR += $(MROS2DIR)/src
 
 APPL_CXXOBJS += mros2.o

test/build/Makefile.common

@@ -32,4 +32,4 @@ include ${MROS2_MAKEFILEDIR}/Makefile.rtps
 include ${MROS2_MAKEFILEDIR}/Makefile.mros2
 
 # asp3-f767zi makefiles include
-include ${ASP3_MAKEFILEDIR}/Makefile.mros2
+include ${ASP3_MAKEFILEDIR}/Makefile.mros2

workspace/Makefile

@@ -5,6 +5,12 @@ BUILDSPACE := build
 
 BOARDNAME := NODE_F767ZI
 BOARDPATH := /media/${USER}/${BOARDNAME}
+# BOARDPATH for MAC OS -> BOARDPATH := /Volumes/${BOARDNAME}
+
+MSGDIR := custom_msgs/${msg}
+MROS2DIR := ../mros2
+HEADERGEN_FILE := $(MROS2DIR)/mros2_header_generator/header_generator.py
+TEMPLATESGEN_FILE := $(MROS2DIR)/mros2_header_generator/templates_generator.py
 
 ifdef app
 # nothing to do
@@ -15,6 +21,8 @@ usage:
 endif
 
 all: clean
+
+	@python $(TEMPLATESGEN_FILE) $(MROS2DIR) $(APPNAME);
 	@cd $(BUILDSPACE) &&  make -j4 -f Makefile.common app=${APPNAME}
 	@cp $(BUILDSPACE)/asp.bin . && cp $(BUILDSPACE)/asp.elf .
 	@echo "Build complete successfully"
@@ -26,4 +34,10 @@ all: clean
 
 clean:
 	@cd $(BUILDSPACE) && make -f Makefile.common clean
-	rm -f asp.*
+	rm -f asp.* && rm -f .asp*
+
+gen-msg:
+	@if [ -f $(MSGDIR)/msg_settings.json ]; then \
+		python -B $(HEADERGEN_FILE) $(MROS2DIR) $(MSGDIR); \
+		echo "msg file for ${msg} generated in ${MSGDIR}"; \
+	fi

workspace/README.md

@@ -16,39 +16,36 @@ Please also check [mROS-base/mros2-host-examples](https://github.com/mROS-base/m
     - `$ ros2 run mros2_echoback_string pub_node`
     - `$ ros2 run mros2_echoback_string sub_node`
 
-## echoreply_uint16
+## sub_uint16
 
 - Description:
   - The mROS 2 node on the embedded board subscribes `uint16` (`std_msgs::msg::UInt16`) message from `/to_stm` topic.
-  - And then publishes this `uint16` message as it is to `/to_linux` as the reply.
-- Host operation:
-  - `$ ros2 launch mros2_echoback_uint16 launch.py`
+  - `$ ros2 launch mros2_pub_uint16 launch.py`
   - or, at two terminals:
-    - `$ ros2 run mros2_echoback_uint16 pub_node`
-    - `$ ros2 run mros2_echoback_uint16 sub_node`
+    - `$ ros2 run mros2_pub_uint16 pub_node`
 
-## echoreply_float32
+## pub_float32
 
 - Description:
-  - The mROS 2 node on the embedded board subscribes `float32` (`std_msgs::msg::Float32`) message from `/to_stm` topic.
-  - And then publishes this `float32` message as it is to `/to_linux` as the reply.
-    - Note that this application just print whether the value of message is less than 0.0, between 0.0 and 1.0, or greater than 1.0, since TOPPERS/ASP3 kernel cannot print float value.
+  - The mROS 2 node on the embedded board publishes `float32` (`std_msgs::msg::Float32`) message to `/to_linux` topic.
 - Host operation:
-  - `$ ros2 launch mros2_echoback_float32 launch.py`
+  - `$ ros2 launch mros2_sub_float32 launch.py`
   - or, at two terminals:
-    - `$ ros2 run mros2_echoback_float32 pub_node`
-    - `$ ros2 run mros2_echoback_float32 sub_node`
+    - `$ ros2 run mros2_sub_float32 sub_node`
 
-## pub_string
+## sub_pose
 
 - Description:
-  - The mROS 2 node on the embedded board says hello to `/to_linux` as the publication message of `string`.
-- Host operation:
-  - `$ ros2 run mros2_echoback_string pub_node`
+  - The mROS 2 node on the embedded board subscribes `Pose` (`geometry_msgs::msg::Pose`) message from `cmd_vel` topic.
+  - `$ ros2 launch mros2_pub_pose launch.py`
+  - or, at two terminals:
+    - `$ ros2 run mros2_pub_pose pub_node`
 
-## sub_string
+## pub_twist
 
 - Description:
-  - The mROS 2 node on the embedded board just subscribes `string` message from `/to_stm` topic.
+  - The mROS 2 node on the embedded board publishes `Twist` (`geometry_msgs::msg::Twist`) message to `cmd_vel` topic.
 - Host operation:
-  - `$ ros2 run mros2_echoback_string sub_node`
+  - `$ ros2 launch mros2_sub_twist launch.py`
+  - or, at two terminals:
+    - `$ ros2 run mros2_sub_twist sub_node`

workspace/build/Makefile.common

@@ -32,4 +32,4 @@ include ${MROS2_MAKEFILEDIR}/Makefile.rtps
 include ${MROS2_MAKEFILEDIR}/Makefile.mros2
 
 # asp3-f767zi makefiles include
-include ${ASP3_MAKEFILEDIR}/Makefile.mros2
+include ${ASP3_MAKEFILEDIR}/Makefile.mros2

workspace/custom_msgs/geometry_msgs/msg/Point.msg

@@ -0,0 +1,3 @@
+float64 x
+float64 y
+float64 z

workspace/custom_msgs/geometry_msgs/msg/Pose.msg

@@ -0,0 +1,2 @@
+geometry_msgs/msg/Point position
+geometry_msgs/msg/Quaternion orientation

workspace/custom_msgs/geometry_msgs/msg/Quaternion.msg

@@ -0,0 +1,4 @@
+float64 x
+float64 y
+float64 z
+float64 w

workspace/custom_msgs/geometry_msgs/msg/Twist.msg

@@ -0,0 +1,2 @@
+geometry_msgs/msg/Vector3 linear
+geometry_msgs/msg/Vector3 angular

workspace/custom_msgs/geometry_msgs/msg/Vector3.msg

@@ -0,0 +1,3 @@
+float64 x
+float64 y
+float64 z

workspace/custom_msgs/geometry_msgs/msg_settings.json

@@ -0,0 +1,4 @@
+{
+    "pubsubMsgs": [
+	]
+}

workspace/echoreply_string/README.md

@@ -1,15 +1,15 @@
-### string型通信動作確認用アプリ
+# echoreply_string app
 
-string型の通信の動作確認をするためのサンプルアプリです。
-以下の手順で確認できます。
+This is a sample application to publish/subscribe `string` (`std_msgs::msg::String`) message.
+Please follow the steps below.
 
-1.workspaceディレクトリにて、`make app=echoreply_string` によりアプリをビルド
+1.Execute `make app=echoreply_string` in `workspace` direcroty, then this app will be built.
 
-2.Serial Console (picocomなど) を立ち上げて、初期化
+2.Open serial console (ex. picocom) and initialize your micro computer board.
 
-3.hostのros2アプリからstring型のmessageを送信
+3.On the host device to communicate with, run `mros2_echoback_string` app (https://github.com/mROS-base/mros2-host-examples) .
 
-4.messageを受信、これを再びhostのros2アプリに向かって送信 (以下)
+4.If you get logs below, which means success!!
 
 ```
 Subscribed msg : Hello, world! 1

workspace/echoreply_string/app.cpp

@@ -9,8 +9,8 @@ mros2::Publisher pub;
 
 void userCallback(std_msgs::msg::String *msg)
 {
-  MROS2_INFO("subscribed msg: '%s'", msg->data.c_str());
-  MROS2_INFO("publishing msg: '%s'", msg->data.c_str());
+  MROS2_INFO("Subscribed msg : %s", msg->data.c_str());
+  MROS2_INFO("Publishing msg : %s", msg->data.c_str());
   pub.publish(*msg);
 }
 

workspace/echoreply_string/templates.hpp

@@ -0,0 +1,11 @@
+
+#include "std_msgs/msg/string.hpp"
+
+
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::String>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::String &msg);
+
+
+
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::String*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::String>(void *callee, const rtps::ReaderCacheChange &cacheChange);

workspace/pub_float32/README.md

@@ -0,0 +1,18 @@
+# pub_float32
+
+This is a sample application to publish `float32` (`std_msgs::msg::Float32`) message.
+Please follow the steps below.
+
+1.Execute `make app=pub_float32` in `workspace` direcroty, then this app will be built.
+
+2.Open serial console (ex. picocom) and initialize your micro computer board.
+
+3.On the host device to communicate with, run `mros2_sub_float32` app (https://github.com/mROS-base/mros2-host-examples) .
+
+4.If you get logs below, which means success!!
+```
+publishing float msg!!
+publishing float msg!!
+...
+
+```

workspace/echoreply_float32/app.cpp → workspace/pub_float32/app.cpp

@@ -4,27 +4,8 @@
 
 #include "stm32f7xx_nucleo_144.h"
 
-mros2::Subscriber sub;
 mros2::Publisher pub;
 
-void userCallback(std_msgs::msg::Float32 *msg)
-{
-  if (0.0 >= msg->data) {
-    MROS2_INFO("msg <= 0.0");
-  } else if (0.0 < msg->data && msg->data < 0.5) {
-    MROS2_INFO("0.0 < msg < 0.5");
-  } else if (0.5 < msg->data && msg->data < 1.0) {
-    MROS2_INFO("0.5 < msg < 1.0");
-  } else {
-    MROS2_INFO("msg >= 1.0");
-  }
-  /* TODO: make MROS2_INFO support float type
-  MROS2_INFO("subscribed msg: '%f'", msg->data);
-  MROS2_INFO("publishing msg: '%f'", msg->data);
-  */
-  pub.publish(*msg);
-}
-
 int main(int argc, char *argv[])
 {
   MROS2_INFO("mROS 2 application is started");
@@ -35,10 +16,16 @@ int main(int argc, char *argv[])
 
   mros2::Node node = mros2::Node::create_node("mros2_node");
   pub = node.create_publisher<std_msgs::msg::Float32>("to_linux", 10);
-  sub = node.create_subscription<std_msgs::msg::Float32>("to_stm", 10, userCallback);
-  std_msgs::msg::Float32 msg;
-
   MROS2_INFO("ready to pub/sub message");
+
+  std_msgs::msg::Float32 msg;
+  auto publish_count = 0;
+    while (1) {
+    msg.data = publish_count++/1.0;
+    MROS2_INFO("publishing float msg!!");
+    pub.publish(msg);
+    osDelay(1000);
+  }
   mros2::spin();
   BSP_LED_Toggle(LED3);
 }
@@ -51,4 +38,4 @@ void main_task(void)
 void led_cyclic_handler(intptr_t exinf)
 {
   BSP_LED_Toggle(LED2);
-}
+}

workspace/pub_float32/templates.hpp

@@ -0,0 +1,8 @@
+
+#include "std_msgs/msg/float32.hpp"
+
+
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::Float32>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::Float32 &msg);
+
+