[ros-users] ROS node publishing not responsive in C++ code
Josh Faust
jfaust at willowgarage.com
Wed Aug 11 18:06:12 UTC 2010
If it's not even getting to the part where it's printing "e", which occurs
before any ROS-related code, then this is not ROS related and is not
appropriate for this list.
The support page has guidelines for what is appropriate:
http://www.ros.org/wiki/Support
Josh
On Wed, Aug 11, 2010 at 10:48 AM, ibwood <ianbenjiman at hotmail.com> wrote:
>
> Hi everyone,
>
> I have some C++ code that compiles without any errors. The code is designed
> to communicate with the usb ports and send values to motor drivers for
> operation with a joystick. I'm having trouble deciphering why it is not
> outputting "e" and continuing on to initialize and publish to the
> joyChatter
> node. Please tell me if I have any syntax incorrect. Here is the code:
>
> #include "ros/ros.h"
> #include "std_msgs/String.h"
>
> #include <sstream>
> #include <cmath>
> #include <iostream>
>
> #include <sys/ioctl.h>
> #include <sys/types.h>
> #include <sys/stat.h>
> #include <stdio.h>
> #include <limits.h>
> #include <string.h>
> #include <fcntl.h>
> #include <errno.h>
> #include <termios.h>
> #include <unistd.h>
>
> #define PI 3.14159265358979323846264338327950288419716
>
> using namespace std;
>
> const double CIRC=0.7853981633974483, R=0.55, ratio=127; //
> initialize
> constants
>
> int main(int argc, char **argv)
> {
> int ms1, ms2, ms3, ms4; //motor speeds of omnimaxbot
> int i, j, wr, rd, x=0, y=0, z=0, fd, fd1, fd2, numSent=0;
> char parseChar[1], stringIn[50], mc_char;
>
> // unsigned long bytes_read = 0; //Number of bytes
> read from port
> // unsigned long bytes_written = 0; //Number of bytes
> written to the port
>
>
>
>
> // attempt to open serial port connected to the microprocessor
>
> fd = open("/dev/HCS12",O_RDWR | O_NOCTTY | O_NDELAY);
>
>
> system("stty -F /dev/HCS12 115200 cs8 -cstopb -parity -icanon hupcl
> -crtscts min 1 time 1"); // set settings for HCS12
> microcontroller
>
>
> // check for errors opening port
>
> if (fd == -1 )
>
> {
>
> printf("open_port: Unable to open /dev/HCS12\n");
>
> }
>
>
> else // if no error
>
> {
>
> fcntl(fd,F_SETFL,0);
>
> printf("Test Port HCS12 has been successfully opened and %d
> is the file
> description\n",fd);
>
> }
>
> //open serial port connected to motor driver for motors 1 and 2
> fd1 = open("/dev/Driver12",O_RDWR | O_NOCTTY | O_NDELAY);
>
> system("stty -F /dev/Driver12 9600 cs8 -cstopb -parity -icanon hupcl
> -crtscts min 1 time 1"); //settings for motor drivers
>
> if (fd1 == -1 )
>
> {
>
> perror("open_port: Unable to open /dev/Driver12\n");
>
> }
>
> else // if no error
>
> {
>
> fcntl(fd1,F_SETFL,0);
>
> printf("Test Port Driver12 has been successfully opened and
> %d is the file
> description\n",fd1);
>
> }
>
> //open serial port connected to motor driver for motors 3 and 4
> fd2 = open("/dev/Driver34",O_RDWR | O_NOCTTY | O_NDELAY);
>
> system("stty -F /dev/Driver34 9600 cs8 -cstopb -parity -icanon hupcl
> -crtscts min 1 time 1"); //settings for motor drivers
>
> if (fd2 == -1 )
>
> {
>
> perror("open_port: Unable to open /dev/Driver34\n");
>
> }
>
> else // if no error
>
> {
>
> fcntl(fd2,F_SETFL,0);
>
> printf("Test Port Driver34 has been successfully opened and
> %d is the file
> description\n",fd2);
>
> }
>
> printf("e");
> // initalize node
> ros::init(argc, argv, "joyTalker");
> ros::NodeHandle joyTalker;
> printf("f");
> // Publish to topic joyChatter
> ros::Publisher pub =
> joyTalker.advertise<std_msgs::String>("joyChatter",
> 1000);
> printf("0");
> ros::Rate r(10);
> printf("1");
> while (joyTalker.ok())
> {
> parseChar[0]=0;
>
> for(j=0; j<50; j++)
> {
> stringIn[j]=0; //initialize the string
> }
>
> i=0;
> printf("2");
> while(parseChar[0] != 10)
> {
> if(i==50) // exceeds the allowable size
> {
> break;
> }
>
> rd = read(fd,parseChar,1);
> // printf("%s ",parseChar);
> if ((parseChar[0] > 43) && ((parseChar[0] < 58) ||
> (parseChar[0]==32)))
> {
> stringIn[i]=parseChar[0];
> i++;
> }
>
> // kinematics of the omnimaxbot
> ms1 =
> ((x/sqrt(2))+y+(R*tan((z/ratio)*(2*PI))))/CIRC;
> ms2 =
> (-(x/sqrt(2))+y+(R*tan((z/ratio)*(2*PI))))/CIRC;
> ms3 =
> ((x/sqrt(2))+y-(R*tan((z/ratio)*(2*PI))))/CIRC;
> ms4 =
> (-(x/sqrt(2))+y-(R*tan((z/ratio)*(2*PI))))/CIRC;
>
> if(ms1<0) //Motor Controller
> 1, Port A, Motor 1
> {
> ms1=-ms1;
> mc_char = 'a';
> }
> else
> {
> mc_char = 'A';
> }
> //write data to the specified port
> numSent = sprintf(stringIn, "!%c%d", mc_char, ms1);
> wr = write(fd1,stringIn,numSent);
>
> if(ms2<0) //Motor Controller
> 1, Port B, Motor 2
> {
> ms2=-ms2;
> mc_char = 'a';
> }
> else
> {
> mc_char = 'A';
> }
>
> numSent = sprintf(stringIn, "!%c%d", mc_char, ms2);
> wr = write(fd1,stringIn,numSent);
>
> if(ms3<0) //Motor Controller
> 2, Port A, Motor 3
> {
> ms3=-ms3;
> mc_char = 'b';
> }
> else
> {
> mc_char = 'B';
> }
> numSent = sprintf(stringIn, "!%c%d", mc_char, ms3);
> wr = write(fd2,stringIn,numSent);
>
> if(ms4<0) //Motor Controller
> 2, Port B, Motor 4
> {
> ms4=-ms4;
> mc_char = 'b';
> }
> else
> {
> mc_char = 'B';
> }
> numSent = sprintf(stringIn, "!%c%d", mc_char, ms4);
> wr = write(fd2,stringIn,numSent);
> }
> printf("got this string %s\n",stringIn);
> printf("8");
> // convert message to string for ROS node communication
> std_msgs::String msg;
> std::stringstream ss;
> ss << stringIn;
> ROS_INFO("%s", ss.str().c_str());
> msg.data = ss.str();
> // publish data under topic joyChatter
> pub.publish(msg);
>
> ros::spinOnce();
> }
>
> return 0;
> }
>
> --
> View this message in context:
> http://ros-users.122217.n3.nabble.com/ROS-node-publishing-not-responsive-in-C-code-tp1091286p1091286.html
> Sent from the ROS-Users mailing list archive at Nabble.com.
>
>
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