From bcc28b822bf2f7a0b5f658e4973bfac959a98466 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 6 Sep 2018 18:03:14 +0200
Subject: [PATCH] Migration to the ROS Kinetic.
---
CMakeLists.txt | 2 +-
cfg/Bno055Imu.cfg | 4 ++--
include/bno055_imu_ros_driver.h | 4 ++--
package.xml | 8 ++++----
src/bno055_imu_ros_driver.cpp | 9 ++++++---
src/bno055_imu_ros_driver_node.cpp | 4 ++--
6 files changed, 17 insertions(+), 14 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e1e039a..63c13ce 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 2.8.3)
-project(bno055_imu)
+project(iri_bno055_imu_driver)
## Find catkin macros and libraries
find_package(catkin REQUIRED)
diff --git a/cfg/Bno055Imu.cfg b/cfg/Bno055Imu.cfg
index 5a4c162..bfce5cc 100755
--- a/cfg/Bno055Imu.cfg
+++ b/cfg/Bno055Imu.cfg
@@ -31,9 +31,9 @@
# Author:
-PACKAGE='bno055_imu'
+PACKAGE='iri_bno055_imu_driver'
-from driver_base.msg import SensorLevels
+from iri_base_driver.msg import SensorLevels
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
diff --git a/include/bno055_imu_ros_driver.h b/include/bno055_imu_ros_driver.h
index 934d6e2..56f33f9 100644
--- a/include/bno055_imu_ros_driver.h
+++ b/include/bno055_imu_ros_driver.h
@@ -26,7 +26,7 @@
#define _bno055_imu_driver_h_
#include <iri_base_driver/iri_base_driver.h>
-#include <bno055_imu/Bno055ImuConfig.h>
+#include <iri_bno055_imu_driver/Bno055ImuConfig.h>
//include bno055_imu_driver main library
#include "bno055_imu_driver.h"
@@ -64,7 +64,7 @@ class Bno055ImuDriver : public iri_base_driver::IriBaseDriver
* Define a Config type with the Bno055ImuConfig. All driver implementations
* will then use the same variable type Config.
*/
- typedef bno055_imu::Bno055ImuConfig Config;
+ typedef iri_bno055_imu_driver::Bno055ImuConfig Config;
/**
* \brief config variable
diff --git a/package.xml b/package.xml
index 366fb2d..220a222 100644
--- a/package.xml
+++ b/package.xml
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package>
- <name>bno055_imu</name>
+ <name>iri_bno055_imu_driver</name>
<version>0.0.0</version>
- <description>The bno055_imu package</description>
+ <description>The iri_bno055_imu_driver package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -19,7 +19,7 @@
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/bno055_imu</url> -->
+ <!-- <url type="website">http://wiki.ros.org/iri_bno055_imu_driver</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
@@ -51,4 +51,4 @@
<!-- Other tools can request additional information be placed here -->
</export>
-</package>
\ No newline at end of file
+</package>
diff --git a/src/bno055_imu_ros_driver.cpp b/src/bno055_imu_ros_driver.cpp
index 07d0a50..f550c85 100644
--- a/src/bno055_imu_ros_driver.cpp
+++ b/src/bno055_imu_ros_driver.cpp
@@ -19,6 +19,7 @@ bool Bno055ImuDriver::openDriver(void)
try{
this->imu_device=new CBNO055IMUDriver("BNO055_driver");
this->imu_device->open(this->config_.serial_device);
+ ROS_INFO("IMU successfully opened");
return true;
}catch(CException &e){
if(this->imu_device!=NULL)
@@ -50,6 +51,7 @@ bool Bno055ImuDriver::startDriver(void)
this->imu_device->load_calibration(this->config_.cal_filename);
this->imu_device->set_operation_mode(ndof_mode);
this->imu_device->set_data_rate(this->config_.update_rate);
+ ROS_INFO("IMU successfully started");
return true;
}catch(CException &e){
ROS_WARN_STREAM(e.what());
@@ -62,6 +64,7 @@ bool Bno055ImuDriver::startDriver(void)
this->imu_device->set_operation_mode(config_mode);
this->imu_device->set_data_rate(this->config_.update_rate);
this->imu_device->set_operation_mode(ndof_mode);
+ ROS_INFO("IMU successfully stopped");
return true;
}catch(CException &e){
ROS_WARN_STREAM(e.what());
@@ -84,14 +87,14 @@ void Bno055ImuDriver::config_update(Config& new_cfg, uint32_t level)
// update driver with new_cfg data
switch(this->getState())
{
- case Bno055ImuDriver::CLOSED:
+ case iri_base_driver::CLOSED:
this->frame_id=new_cfg.tf_prefix+"/"+new_cfg.frame_id;
break;
- case Bno055ImuDriver::OPENED:
+ case iri_base_driver::OPENED:
break;
- case Bno055ImuDriver::RUNNING:
+ case iri_base_driver::RUNNING:
break;
}
diff --git a/src/bno055_imu_ros_driver_node.cpp b/src/bno055_imu_ros_driver_node.cpp
index de25be4..4db5265 100644
--- a/src/bno055_imu_ros_driver_node.cpp
+++ b/src/bno055_imu_ros_driver_node.cpp
@@ -7,7 +7,7 @@ Bno055ImuDriverNode::Bno055ImuDriverNode(ros::NodeHandle &nh) :
unsigned int i;
//init class attributes if necessary
- this->loop_rate_ = 500;//in [Hz]
+ this->setRate(500);//in [Hz]
// [init publishers]
this->imu_publisher_ = this->public_node_handle_.advertise<sensor_msgs::Imu>("imu", 1);
@@ -117,5 +117,5 @@ Bno055ImuDriverNode::~Bno055ImuDriverNode(void)
/* main function */
int main(int argc,char *argv[])
{
- return driver_base::main<Bno055ImuDriverNode>(argc, argv, "bno055_imu_driver_node");
+ return iri_base_driver::main<Bno055ImuDriverNode>(argc, argv, "bno055_imu_driver_node");
}
--
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