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topic with new message format

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This commit is contained in:
Florian Zirker 2018-11-22 19:48:11 +01:00
parent a3627818e9
commit 10cc704de3
4 changed files with 52 additions and 179 deletions
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192
CMakeLists.txt
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@ -1,198 +1,36 @@
cmake_minimum_required(VERSION 2.8.3) cmake_minimum_required(VERSION 2.8.3)
project(wlan_pioneer) project(wlan_pioneer)
## Compile as C++11, supported in ROS Kinetic and newer add_compile_options(-std=c++11)
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS find_package(catkin REQUIRED COMPONENTS
roscpp roscpp
message_generation
)
add_message_files(
FILES
WlanSignalMsg.msg
)
generate_messages(
DEPENDENCIES
std_msgs std_msgs
) )
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package( catkin_package(
# INCLUDE_DIRS include # INCLUDE_DIRS include
# LIBRARIES wlan_pioneer # LIBRARIES wlan_pioneer
# CATKIN_DEPENDS roscpp std_msgs CATKIN_DEPENDS message_runtime roscpp
# DEPENDS system_lib # DEPENDS system_lib
) )
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories( include_directories(
# include
${catkin_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
) )
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/wlan_pioneer.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable add_executable(wlanSignal src/wlanSignal.cpp)
## With catkin_make all packages are built within a single CMake context target_link_libraries(wlanSignal ${catkin_LIBRARIES})
## The recommended prefix ensures that target names across packages don't collide add_dependencies(wlanSignal _generate_messages_cpp)
# add_executable(${PROJECT_NAME}_node src/wlan_pioneer_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_wlan_pioneer.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

3
msg/WlanSignalMsg.msg Normal file
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time timestamp
int64 level_24G
int64 level_5G

4
package.xml
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@ -37,13 +37,13 @@
<!-- <build_depend>roscpp</build_depend> --> <!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> --> <!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: --> <!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> --> <build_depend>message_generation</build_depend>
<!-- Use build_export_depend for packages you need in order to build against this package: --> <!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> --> <!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: --> <!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> --> <!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: --> <!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> --> <exec_depend>message_runtime</exec_depend>
<!-- Use test_depend for packages you need only for testing: --> <!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> --> <!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: --> <!-- Use doc_depend for packages you need only for building documentation: -->

32
src/wlanSignal.cpp Normal file
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#include "ros/ros.h"
#include "wlan_pioneer/WlanSignalMsg.h"
#include <sstream>
using namespace ros;
using namespace wlan_pioneer;
int main(int argc, char **argv)
{
init(argc, argv, "wlanSignal");
NodeHandle node;
// topic: wlan_signal
Publisher publisher = node.advertise<WlanSignalMsg>("wlan_signal", 1000);
Rate loopRate(1); // every second
while (ros::ok())
{
WlanSignalMsg msg;
msg.timestamp = ros::Time::now();
msg.level_24G = 0; // TODO: read real WLAN signal strength
msg.level_5G = 0;
ROS_INFO("Signal strength 2.4G: %li Signal strength 5G: %li", msg.level_24G, msg.level_5G);
publisher.publish(msg);
spinOnce();
loopRate.sleep();
}
return 0;
}