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Commit 6cad8cb1 authored by Paul D'Angio's avatar Paul D'Angio
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initial commit of calibrate_gyroscope service

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driver_mpu9250_msgs/CMakeLists.txt
+ 10
− 135
View file @ 6cad8cb1
...@@ -7,16 +7,8 @@ project(driver_mpu9250_msgs) ...@@ -7,16 +7,8 @@ project(driver_mpu9250_msgs)
## Find catkin macros and libraries ## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages ## is used, also find other catkin packages
find_package(catkin REQUIRED) find_package(catkin REQUIRED COMPONENTS
message_generation)
## 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 ## ## Declare ROS messages, services and actions ##
...@@ -49,12 +41,11 @@ find_package(catkin REQUIRED) ...@@ -49,12 +41,11 @@ find_package(catkin REQUIRED)
# Message2.msg # Message2.msg
# ) # )
## Generate services in the 'srv' folder # Generate services in the 'srv' folder
# add_service_files( add_service_files(
# FILES FILES
# Service1.srv calibrate_gyroscope.srv
# Service2.srv )
# )
## Generate actions in the 'action' folder ## Generate actions in the 'action' folder
# add_action_files( # add_action_files(
...@@ -64,30 +55,10 @@ find_package(catkin REQUIRED) ...@@ -64,30 +55,10 @@ find_package(catkin REQUIRED)
# ) # )
## Generate added messages and services with any dependencies listed here ## Generate added messages and services with any dependencies listed here
# generate_messages( generate_messages(
# DEPENDENCIES # DEPENDENCIES
# std_msgs # Or other packages containing msgs # 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 ## ## catkin specific configuration ##
...@@ -103,100 +74,4 @@ catkin_package( ...@@ -103,100 +74,4 @@ catkin_package(
# LIBRARIES driver_mpu9250_msgs # LIBRARIES driver_mpu9250_msgs
# CATKIN_DEPENDS other_catkin_pkg # CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib # DEPENDS system_lib
) )
\ No newline at end of file
###########
## 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)
driver_mpu9250_msgs/package.xml
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<?xml version="1.0"?> <?xml version="1.0"?>
<package format="2"> <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 --> <author email="pcdangio@gmail.com">Paul D'Angio</author>
<!-- Authors do not have to be maintainers, but could be --> <maintainer email="pcdangio@gmail.com">Paul D'Angio</maintainer>
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<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> <buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend>
</package>
<!-- The export tag contains other, unspecified, tags --> \ No newline at end of file
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
driver_mpu9250_msgs/srv/calibrate_gyroscope.srv 0 → 100644
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− 0
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# 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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