不要なファイル消しました。composed.cpp、sensorspacket.hpp,CMakeLists.txt,package.xm…

…lを修正しました。
rogy-AquaLab · Jun 25, 2024 · 6cfe834 · 6cfe834
1 parent 5203aa0
commit 6cfe834
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Showing 39 changed files with 126 additions and 787 deletions.
diff --git a/packet/order/power/packet_power/CMakeLists.txt b/packet/order/power/packet_power/CMakeLists.txt
diff --git a/packet/order/power/packet_power/include/packet_power/powerspacket.hpp b/packet/order/power/packet_power/include/packet_power/powerspacket.hpp
diff --git a/packet/order/power/packet_power/package.xml b/packet/order/power/packet_power/package.xml
diff --git a/packet/order/power/packet_power/src/power.cpp b/packet/order/power/packet_power/src/power.cpp
diff --git a/packet/order/power/packet_power/src/power_main.cpp b/packet/order/power/packet_power/src/power_main.cpp
diff --git a/packet/order/quit/packet_quit/CMakeLists.txt b/packet/order/quit/packet_quit/CMakeLists.txt
diff --git a/packet/order/quit/packet_quit/include/packet_quit/quitspacket.hpp b/packet/order/quit/packet_quit/include/packet_quit/quitspacket.hpp
diff --git a/packet/order/quit/packet_quit/package.xml b/packet/order/quit/packet_quit/package.xml
diff --git a/packet/order/quit/packet_quit/src/quit.cpp b/packet/order/quit/packet_quit/src/quit.cpp
diff --git a/packet/order/quit/packet_quit/src/quit_main.cpp b/packet/order/quit/packet_quit/src/quit_main.cpp
diff --git a/packet/packet_composed/CMakeLists.txt b/packet/packet_composed/CMakeLists.txt
@@ -12,6 +12,8 @@ find_package(ament_cmake REQUIRED)
 # find_package(<dependency> REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(packet_interfaces REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
 
  add_executable(Composed
  src/composed_main.cpp
@@ -20,6 +22,8 @@ find_package(packet_interfaces REQUIRED)
 
  ament_target_dependencies(Composed
  rclcpp
+ std_msgs
+ sensor_msgs
  packet_interfaces
  )
 

diff --git a/packet/packet_composed/include/packet_composed/sensorspacket.hpp b/packet/packet_composed/include/packet_composed/sensorspacket.hpp
@@ -7,11 +7,31 @@
 
 class Composed : public rclcpp::Node {
 private:
+ rclcpp::Publisher<std_msgs::msg::String>::SharedPtr _publisher;
+ rclcpp::Publisher<packet_interfaces::msg::Composed>::SharedPtr composed_publisher;
+
+ rclcpp::Subscription<packet_interfaces::msg::Depth>::SharedPtr depth_subscription;
+ rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_subscription;
+ rclcpp::Subscription<packet_interfaces::msg::Flex>::SharedPtr flex1_subscription;
+ rclcpp::Subscription<packet_interfaces::msg::Flex>::SharedPtr flex2_subscription;
+ rclcpp::Subscription<packet_interfaces::msg::current>::SharedPtr current_subscription;
+ rclcpp::Subscription<packet_interfaces::msg::voltage>::SharedPtr voltage_subscription;
+
+ //まとめてpublishするためにタイマーのつもり
+ rclcpp::TimerBase::SharedPtr _timer;
+ size_t _count;
+ packet_interfaces::msg::Composed composed_msg;
 
- std::shared_ptr<rclcpp::Publisher<std_msgs::msg::String>> _publisher;
- std::shared_ptr<rclcpp::TimerBase> _timer;
- unsigned int _count;
  void _loop();
+ void depth_topic_callback(const packet_interfaces::msg::Depth& msg);
+ void imu_topic_callback(const sensor_msgs::msg::Imu& msg);
+ void flex1_topic_callback(const packet_interfaces::msg::Flex1& msg);
+ void flex2_topic_callback(const packet_interfaces::msg::Flex2& msg);
+ void current_topic_callback(const packet_interfaces::msg::current& msg);
+ void voltage_topic_callback(const packet_interfaces::msg::voltage& msg);
+
+
+ // さらにいくつかのメソッド, プロパティが必要になる
 
 public:
  Composed();

diff --git a/packet/packet_composed/package.xml b/packet/packet_composed/package.xml
@@ -8,7 +8,16 @@
  <license>MIT</license>
  <buildtool_depend>ament_cmake</buildtool_depend>
  <depend>rclcpp</depend>
+ <depend>std_msgs</depend>
+ <depend>sensor_msgs</depend>
  <depend>packet_interfaces</depend>
+ <depend>packet_interfaces</depend>
+
+ <exec_depend>rclcpp</exec_depend>
+ <exec_depend>std_msgs</exec_depend>
+ <exec_depend>sensor_msgs</exec_depend>
+ <exec_depend>packet_interfaces</exec_depend>
+
  <export>
  <build_type>ament_cmake</build_type>
  </export>

diff --git a/packet/packet_composed/sensors/current/packet_current/CMakeLists.txt b/packet/packet_composed/sensors/current/packet_current/CMakeLists.txt
diff --git a/.../packet_composed/sensors/current/packet_current/include/packet_current/currentspacket.hpp b/.../packet_composed/sensors/current/packet_current/include/packet_current/currentspacket.hpp
diff --git a/packet/packet_composed/sensors/current/packet_current/package.xml b/packet/packet_composed/sensors/current/packet_current/package.xml