From 6cad8cb142c33ccf912a4e192ef1b2bfc115460d Mon Sep 17 00:00:00 2001
From: Paul D'Angio <pcdangio@gmail.com>
Date: Mon, 26 Oct 2020 18:10:47 -0400
Subject: [PATCH] initial commit of calibrate_gyroscope service
---
driver_mpu9250_msgs/CMakeLists.txt | 145 ++----------------
driver_mpu9250_msgs/package.xml | 59 +------
.../srv/calibrate_gyroscope.srv | 6 +
3 files changed, 24 insertions(+), 186 deletions(-)
create mode 100644 driver_mpu9250_msgs/srv/calibrate_gyroscope.srv
diff --git a/driver_mpu9250_msgs/CMakeLists.txt b/driver_mpu9250_msgs/CMakeLists.txt
index 7f4e5ad..04b0dc4 100644
--- a/driver_mpu9250_msgs/CMakeLists.txt
+++ b/driver_mpu9250_msgs/CMakeLists.txt
@@ -7,16 +7,8 @@ project(driver_mpu9250_msgs)
## 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)
-
-## 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()
+find_package(catkin REQUIRED COMPONENTS
+ message_generation)
################################################
## Declare ROS messages, services and actions ##
@@ -49,12 +41,11 @@ find_package(catkin REQUIRED)
# Message2.msg
# )
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
+# Generate services in the 'srv' folder
+add_service_files(
+ FILES
+ calibrate_gyroscope.srv
+)
## Generate actions in the 'action' folder
# add_action_files(
@@ -64,30 +55,10 @@ find_package(catkin REQUIRED)
# )
## Generate added messages and services with any dependencies listed here
-# generate_messages(
+generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing 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 ##
@@ -103,100 +74,4 @@ catkin_package(
# LIBRARIES driver_mpu9250_msgs
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-# ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/driver_mpu9250_msgs.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/driver_mpu9250_msgs_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
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${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_driver_mpu9250_msgs.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)
+)
\ No newline at end of file
diff --git a/driver_mpu9250_msgs/package.xml b/driver_mpu9250_msgs/package.xml
index bb5369a..ac64dbc 100644
--- a/driver_mpu9250_msgs/package.xml
+++ b/driver_mpu9250_msgs/package.xml
@@ -1,59 +1,16 @@
<?xml version="1.0"?>
<package format="2">
- <name>driver_mpu9250_msgs</name>
- <version>0.0.0</version>
- <description>The driver_mpu9250_msgs package</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="pcdangio@todo.todo">pcdangio</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
- <license>TODO</license>
-
-
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/driver_mpu9250_msgs</url> -->
+ <name>driver_mpu9250_msgs</name>
+ <version>1.0.0</version>
+ <description>Provides messages and services for interacting with the driver_mpu9250 node.</description>
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+ <author email="pcdangio@gmail.com">Paul D'Angio</author>
+ <maintainer email="pcdangio@gmail.com">Paul D'Angio</maintainer>
+ <license>MIT</license>
- <!-- The *depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
- <!-- <depend>roscpp</depend> -->
- <!-- Note that this is equivalent to the following: -->
- <!-- <build_depend>roscpp</build_depend> -->
- <!-- <exec_depend>roscpp</exec_depend> -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use build_export_depend for packages you need in order to build against this package: -->
- <!-- <build_export_depend>message_generation</build_export_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use exec_depend for packages you need at runtime: -->
- <!-- <exec_depend>message_runtime</exec_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <!-- Use doc_depend for packages you need only for building documentation: -->
- <!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
+ <build_depend>message_generation</build_depend>
-
- <!-- The export tag contains other, unspecified, tags -->
- <export>
- <!-- Other tools can request additional information be placed here -->
-
- </export>
-</package>
+</package>
\ No newline at end of file
diff --git a/driver_mpu9250_msgs/srv/calibrate_gyroscope.srv b/driver_mpu9250_msgs/srv/calibrate_gyroscope.srv
new file mode 100644
index 0000000..f04afd6
--- /dev/null
+++ b/driver_mpu9250_msgs/srv/calibrate_gyroscope.srv
@@ -0,0 +1,6 @@
+# Requests for the IMU to perform a zero-velocity calibration of the gyroscope.
+
+uint32 averaging_period # The number of milliseconds to average the bias calculation over.
+---
+bool success # TRUE if the calibration was successful, otherwise FALSE.
+string message # If unsuccesful, reports the reason.
\ No newline at end of file
--
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