Compare commits
8 Commits
Huatao_bra
...
master
| Author | SHA1 | Date |
|---|---|---|
 youys
|
bf2afe0d06 | 2 years ago |
 Xie Changrong
|
2adfd79d75 | 2 years ago |
|
Xie Changrong
|
8a34df1f9b | 2 years ago |
|
Xie Changrong
|
e07320c2b0 | 2 years ago |
|
Xie Changrong
|
24373b4580 | 2 years ago |
|
Xie Changrong
|
b529f2013b | 2 years ago |
|
Xie Changrong
|
c65e56df64 | 2 years ago |
|
Xie Changrong
|
b208d0aea3 | 2 years ago |
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/**
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* Copyright (c) 2014 Jilk Systems, Inc.
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*
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* This file is part of the Java ROSBridge Client.
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*
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* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
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* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
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* (at your option) any later version.
|
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*
|
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* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
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*
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*/
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package com.jilk.ros.message.ros;
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import com.jilk.ros.message.ros.message.Clock;
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import com.jilk.ros.message.ros.message.Log;
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import com.jilk.ros.message.ros.rosapi.message.Empty;
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import com.jilk.ros.message.ros.rosapi.message.GetTime;
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import com.jilk.ros.message.ros.rosapi.message.MessageDetails;
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import com.jilk.ros.message.ros.rosapi.message.Type;
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import com.jilk.ros.message.ros.rosbridge.ROSBridgeClient;
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public class Example {
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public Example() {}
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public static void main(String[] args) {
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ROSBridgeClient client = new ROSBridgeClient("ws://162.243.238.80:9090");
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client.connect();
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//testTopic(client);
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try {
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testService(client);
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}
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catch (RuntimeException ex) {
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ex.printStackTrace();
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}
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finally {
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client.disconnect();
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}
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}
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public static void testService(ROSBridgeClient client) {
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try {
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Service<Empty, GetTime> timeService =
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new Service<Empty, GetTime>("/rosapi/get_time", Empty.class, GetTime.class, client);
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timeService.verify();
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//System.out.println("Time (secs): " + timeService.callBlocking(new Empty()).time.sec);
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Service<com.jilk.ros.message.ros.rosapi.message.Service, Type> serviceTypeService =
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new Service<com.jilk.ros.message.ros.rosapi.message.Service, Type>("/rosapi/service_type",
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com.jilk.ros.message.ros.rosapi.message.Service.class, Type.class, client);
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serviceTypeService.verify();
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String type = serviceTypeService.callBlocking(new com.jilk.ros.message.ros.rosapi.message.Service("/rosapi/service_response_details")).type;
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Service<Type, MessageDetails> serviceDetails =
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new Service<Type, MessageDetails>("/rosapi/service_response_details",
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Type.class, MessageDetails.class, client);
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serviceDetails.verify();
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//serviceDetails.callBlocking(new Type(type)).print();
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Topic<Log> logTopic =
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new Topic<Log>("/rosout", Log.class, client);
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logTopic.verify();
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/*
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System.out.println("Nodes");
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for (String s : client.getNodes())
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System.out.println(" " + s);
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System.out.println("Topics");
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for (String s : client.getTopics()) {
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System.out.println(s + ":");
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client.getTopicMessageDetails(s).print();
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}
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System.out.println("Services");
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for (String s : client.getServices()) {
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System.out.println(s + ":");
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client.getServiceRequestDetails(s).print();
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System.out.println("-----------------");
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client.getServiceResponseDetails(s).print();
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}
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*/
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}
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catch (InterruptedException ex) {
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System.out.println("Process was interrupted.");
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} finally {
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|
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}
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/*
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Service<Empty, Topics> topicService =
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new Service<Empty, Topics>("/rosapi/topics", Empty.class, Topics.class, client);
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Service<Topic, Type> typeService =
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new Service<Topic, Type>("/rosapi/topic_type", Topic.class, Type.class, client);
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Service<Type, MessageDetails> messageService =
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new Service<Type, MessageDetails>("/rosapi/message_details", Type.class, MessageDetails.class, client);
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try {
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Topics topics = topicService.callBlocking(new Empty());
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for (String topicString : topics.topics) {
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Topic topic = new Topic();
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topic.topic = topicString;
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Type type = typeService.callBlocking(topic);
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MessageDetails details = messageService.callBlocking(type);
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||||
System.out.println("Topic: " + topic.topic + " Type: " + type.type);
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||||
details.print();
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||||
System.out.println();
|
||||
}
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||||
Type type = new Type();
|
||||
type.type = "time";
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||||
System.out.print("Single type check on \'time\': ");
|
||||
messageService.callBlocking(type).print();
|
||||
}
|
||||
catch (InterruptedException ex) {
|
||||
System.out.println("testService: process was interrupted.");
|
||||
}
|
||||
*/
|
||||
}
|
||||
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||||
public static void testTopic(ROSBridgeClient client) {
|
||||
Topic<Clock> clockTopic = new Topic<Clock>("/clock", Clock.class, client);
|
||||
clockTopic.subscribe();
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||||
try {
|
||||
Thread.sleep(20000);} catch(InterruptedException ex) {}finally {
|
||||
|
||||
}
|
||||
Clock cl = null;
|
||||
try {
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||||
cl = clockTopic.take(); // just gets one
|
||||
}
|
||||
catch (InterruptedException ex) {}finally {
|
||||
|
||||
}
|
||||
cl.print();
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||||
cl.clock.nsecs++;
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||||
clockTopic.unsubscribe();
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||||
clockTopic.advertise();
|
||||
clockTopic.publish(cl);
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||||
clockTopic.unadvertise();
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||||
}
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}
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@ -0,0 +1,26 @@
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||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros;
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||||
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||||
import com.jilk.ros.message.ros.message.Message;
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||||
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||||
public interface MessageHandler<T extends Message> {
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||||
public void onMessage(T message);
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||||
}
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@ -0,0 +1,68 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros;
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||||
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||||
import com.jilk.ros.message.ros.message.Message;
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||||
import com.jilk.ros.message.ros.rosapi.message.TypeDef;
|
||||
import com.jilk.ros.message.ros.rosbridge.FullMessageHandler;
|
||||
import com.jilk.ros.message.ros.rosbridge.ROSBridgeClient;
|
||||
import com.jilk.ros.message.ros.rosbridge.operation.Operation;
|
||||
|
||||
public abstract class ROSClient {
|
||||
|
||||
public ROSClient() {}
|
||||
|
||||
public static ROSClient create(String uriString) {
|
||||
// if we ever implement other ROSClient types, we'll key off the URI protocol (e.g., ws://)
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||||
// we'd also have to abstract out Topic and Service since they depend on the ROSBridge operations
|
||||
return new ROSBridgeClient(uriString);
|
||||
}
|
||||
|
||||
public abstract boolean connect();
|
||||
public abstract boolean connect(ConnectionStatusListener listener);
|
||||
public abstract void disconnect();
|
||||
public abstract void send(Operation operation);
|
||||
public abstract void send(String json);
|
||||
public abstract void register(Class<? extends Operation> c,
|
||||
String s,
|
||||
Class<? extends Message> m,
|
||||
FullMessageHandler h);
|
||||
public abstract void unregister(Class<? extends Operation> c, String s);
|
||||
public abstract void setDebug(boolean debug);
|
||||
public abstract String[] getNodes() throws InterruptedException;
|
||||
public abstract String[] getTopics() throws InterruptedException;
|
||||
public abstract String[] getServices() throws InterruptedException;
|
||||
public abstract TypeDef getTopicMessageDetails(String topic) throws InterruptedException;
|
||||
public abstract TypeDef[] getTopicMessageList(String topic) throws InterruptedException;
|
||||
public abstract TypeDef getServiceRequestDetails(String service) throws InterruptedException;
|
||||
public abstract TypeDef[] getServiceRequestList(String service) throws InterruptedException;
|
||||
public abstract TypeDef getServiceResponseDetails(String service) throws InterruptedException;
|
||||
public abstract TypeDef[] getServiceResponseList(String service) throws InterruptedException;
|
||||
public abstract TypeDef getTypeDetails(String type) throws InterruptedException;
|
||||
public abstract TypeDef[] getTypeList(String type) throws InterruptedException;
|
||||
public abstract void typeMatch(TypeDef t, Class<? extends Message> c) throws InterruptedException;
|
||||
public abstract Object getUnderlyingClient(); // for debugging
|
||||
|
||||
public interface ConnectionStatusListener {
|
||||
public void onConnect();
|
||||
public void onDisconnect(boolean normal, String reason, int code);
|
||||
public void onError(Exception ex);
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,134 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros;
|
||||
|
||||
import com.jilk.ros.message.ros.message.Message;
|
||||
import com.jilk.ros.message.ros.rosbridge.FullMessageHandler;
|
||||
import com.jilk.ros.message.ros.rosbridge.operation.CallService;
|
||||
import com.jilk.ros.message.ros.rosbridge.operation.ServiceResponse;
|
||||
|
||||
import java.util.HashMap;
|
||||
import java.util.Map;
|
||||
import java.util.concurrent.CountDownLatch;
|
||||
|
||||
public class Service<CallType extends Message, ResponseType extends Message> extends Message implements FullMessageHandler {
|
||||
private String service;
|
||||
private Class<? extends ResponseType> responseType;
|
||||
private Class<? extends CallType> callType;
|
||||
private ROSClient client;
|
||||
private Map<String, CallRecord> calls;
|
||||
|
||||
public Service(String service, Class<? extends CallType> callType,
|
||||
Class<? extends ResponseType> responseType, ROSClient client) {
|
||||
this.service = service;
|
||||
this.client = client;
|
||||
this.responseType = responseType;
|
||||
this.callType = callType;
|
||||
calls = new HashMap<String, CallRecord>();
|
||||
}
|
||||
|
||||
// A result can only be returned once; it is cleared from the hash before
|
||||
// being sent/returned. This is to ensure that results do not accumulate
|
||||
// indefinitely. If callers need to keep these around they can set up their
|
||||
// own hash.
|
||||
|
||||
@Override
|
||||
public void onMessage(String id, Message response) {
|
||||
//System.out.print("Service.onMessage: ");
|
||||
//response.print();
|
||||
CallRecord call = calls.get(id);
|
||||
if(call == null) {
|
||||
System.out.print("No caller service response");
|
||||
return;
|
||||
}
|
||||
if (call.handler != null) {
|
||||
calls.remove(id);
|
||||
call.handler.onMessage((ResponseType) response);
|
||||
}
|
||||
else {
|
||||
call.result = (ResponseType) response;
|
||||
call.latch.countDown();
|
||||
}
|
||||
}
|
||||
|
||||
public String call(CallType args) {
|
||||
return callImpl(args, null);
|
||||
}
|
||||
|
||||
public void callWithHandler(CallType args, MessageHandler<ResponseType> responseHandler) {
|
||||
callImpl(args, responseHandler);
|
||||
}
|
||||
|
||||
public ResponseType callBlocking(CallType args) throws InterruptedException {
|
||||
return take(call(args));
|
||||
}
|
||||
|
||||
private String callImpl(CallType args, MessageHandler<ResponseType> responseHandler) {
|
||||
client.register(ServiceResponse.class, service, responseType, this); // do this once on creation?
|
||||
CallService messageCallService = new CallService(service, args);
|
||||
String id = messageCallService.id;
|
||||
CallRecord callRecord = new CallRecord(responseHandler);
|
||||
calls.put(id, callRecord);
|
||||
client.send(messageCallService);
|
||||
return id;
|
||||
}
|
||||
|
||||
public ResponseType poll(String id) {
|
||||
CallRecord call = calls.get(id);
|
||||
if (call.result != null)
|
||||
calls.remove(id);
|
||||
return call.result;
|
||||
}
|
||||
|
||||
public ResponseType take(String id) throws InterruptedException {
|
||||
CallRecord call = calls.get(id);
|
||||
call.latch.await();
|
||||
calls.remove(id);
|
||||
return call.result;
|
||||
}
|
||||
|
||||
public void verify() throws InterruptedException {
|
||||
|
||||
boolean hasService = false;
|
||||
for (String s : client.getServices()) {
|
||||
if (s.equals(service)) {
|
||||
hasService = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (!hasService)
|
||||
throw new RuntimeException("Service \'" + service + "\' not available.");
|
||||
|
||||
client.typeMatch(client.getServiceRequestDetails(service), callType);
|
||||
client.typeMatch(client.getServiceResponseDetails(service), responseType);
|
||||
}
|
||||
|
||||
private class CallRecord {
|
||||
public ResponseType result;
|
||||
public CountDownLatch latch;
|
||||
public MessageHandler<ResponseType> handler;
|
||||
|
||||
public CallRecord(MessageHandler<ResponseType> handler) {
|
||||
this.result = null;
|
||||
this.latch = new CountDownLatch(1);
|
||||
this.handler = handler;
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,146 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros;
|
||||
|
||||
import com.jilk.ros.message.ros.message.Message;
|
||||
import com.jilk.ros.message.ros.rosbridge.FullMessageHandler;
|
||||
import com.jilk.ros.message.ros.rosbridge.operation.Advertise;
|
||||
import com.jilk.ros.message.ros.rosbridge.operation.Operation;
|
||||
import com.jilk.ros.message.ros.rosbridge.operation.Publish;
|
||||
import com.jilk.ros.message.ros.rosbridge.operation.Subscribe;
|
||||
import com.jilk.ros.message.ros.rosbridge.operation.Unadvertise;
|
||||
import com.jilk.ros.message.ros.rosbridge.operation.Unsubscribe;
|
||||
|
||||
import java.util.concurrent.LinkedBlockingQueue;
|
||||
|
||||
|
||||
public class Topic<T extends Message> extends LinkedBlockingQueue<T> implements FullMessageHandler {
|
||||
protected String topic;
|
||||
private Class<? extends T> type;
|
||||
private String messageType;
|
||||
private ROSClient client;
|
||||
private Thread handlerThread;
|
||||
|
||||
public Topic(String topic, Class<? extends T> type, ROSClient client) {
|
||||
this.topic = topic;
|
||||
this.client = client;
|
||||
this.type = type;
|
||||
messageType = Message.getMessageType(type);
|
||||
handlerThread = null;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onMessage(String id, Message message) {
|
||||
add((T) message);
|
||||
}
|
||||
|
||||
|
||||
// warning: there is a delay between the completion of this method and
|
||||
// the completion of the subscription; it takes longer than
|
||||
// publishing multiple other messages, for example.
|
||||
public void subscribe(MessageHandler<T> handler) {
|
||||
startRunner(handler);
|
||||
subscribe();
|
||||
}
|
||||
|
||||
public void subscribe() {
|
||||
client.register(Publish.class, topic, type, this);
|
||||
send(new Subscribe(topic, messageType));
|
||||
}
|
||||
|
||||
public void unsubscribe() {
|
||||
// need to handle race conditions in incoming message handler
|
||||
// so that once unsubscribe has happened the handler gets no more
|
||||
// messages
|
||||
send(new Unsubscribe(topic));
|
||||
client.unregister(Publish.class, topic);
|
||||
stopRunner();
|
||||
}
|
||||
|
||||
private void startRunner(MessageHandler<T> handler) {
|
||||
stopRunner();
|
||||
handlerThread = new Thread(new MessageRunner(handler));
|
||||
handlerThread.setName("Message handler for " + topic);
|
||||
handlerThread.start();
|
||||
}
|
||||
|
||||
private void stopRunner() {
|
||||
if (handlerThread != null) {
|
||||
handlerThread.interrupt();
|
||||
clear();
|
||||
handlerThread = null;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public void advertise() {
|
||||
send(new Advertise(topic, messageType));
|
||||
}
|
||||
|
||||
public void publish(T message) {
|
||||
send(new Publish(topic, message));
|
||||
}
|
||||
|
||||
public void unadvertise() {
|
||||
send(new Unadvertise(topic));
|
||||
}
|
||||
|
||||
private void send(Operation operation) {
|
||||
client.send(operation);
|
||||
}
|
||||
|
||||
public void verify() throws InterruptedException {
|
||||
|
||||
boolean hasTopic = false;
|
||||
for (String s : client.getTopics()) {
|
||||
if (s.equals(topic)) {
|
||||
hasTopic = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (!hasTopic)
|
||||
throw new RuntimeException("Topic \'" + topic + "\' not available.");
|
||||
|
||||
client.typeMatch(client.getTopicMessageDetails(topic), type);
|
||||
}
|
||||
|
||||
private class MessageRunner implements Runnable {
|
||||
private MessageHandler<T> handler;
|
||||
|
||||
public MessageRunner(MessageHandler<T> handler) {
|
||||
this.handler = handler;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void run() {
|
||||
while (!Thread.interrupted()) {
|
||||
try {
|
||||
handler.onMessage(take());
|
||||
}
|
||||
catch (InterruptedException ex) {
|
||||
break;
|
||||
} finally {
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,9 @@
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
/**
|
||||
* Created by xxhong on 16-11-17.
|
||||
*/
|
||||
@MessageType(string = "std_msgs/Int16MultiArray")
|
||||
public class AudioMsg extends Message {
|
||||
public short[] data;
|
||||
}
|
||||
@ -0,0 +1,25 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
@MessageType(string = "rosgraph_msgs/Clock")
|
||||
public class Clock extends Message {
|
||||
public TimePrimitive clock;
|
||||
}
|
||||
@ -0,0 +1,24 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
@MessageType(string = "std_msgs/Duration")
|
||||
public class Duration extends DurationPrimitive {
|
||||
}
|
||||
@ -0,0 +1,25 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
@MessageType(string = "duration")
|
||||
public class DurationPrimitive extends TimePrimitive {
|
||||
|
||||
}
|
||||
@ -0,0 +1,24 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
@MessageType(string = "std_srvs/Empty")
|
||||
public class Empty extends Message {
|
||||
}
|
||||
@ -0,0 +1,27 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
@MessageType(string = "std_msgs/Header")
|
||||
public class Header extends Message {
|
||||
public long seq;
|
||||
public TimePrimitive stamp;
|
||||
public String frame_id;
|
||||
}
|
||||
@ -0,0 +1,32 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
@MessageType(string = "rosgraph_msgs/Log")
|
||||
public class Log extends Message {
|
||||
public Header header;
|
||||
public byte level;
|
||||
public String name;
|
||||
public String msg;
|
||||
public String file;
|
||||
public String function;
|
||||
public long line;
|
||||
public String[] topics;
|
||||
}
|
||||
@ -0,0 +1,210 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
import java.lang.reflect.Array;
|
||||
import java.lang.reflect.Field;
|
||||
import java.util.Map;
|
||||
|
||||
|
||||
@MessageType(string = "message")
|
||||
public abstract class Message {
|
||||
|
||||
// Some requirements about message types:
|
||||
// - It must have a MessageType declaration to be recognized on inbound messages
|
||||
// - Every field must be explicitly designated as public
|
||||
// - Every field that is not a primitive or near-primitive must be another Message class
|
||||
// - If there is a non-empty constructor, you must also have an empty constructor
|
||||
// - If it is set up as an inner class, it needs an explicit nullary constructor
|
||||
// (note: I have seen an inner class otherwise fail, I have not tested it with the explicit constructor)
|
||||
|
||||
public static void register(Class c, Map<String, Class> messageClasses) {
|
||||
try {
|
||||
typecheck(c);
|
||||
|
||||
// Must register the class and not have duplicate
|
||||
// This is not recursive because only the top level message class
|
||||
// needs to be determined from the string - others are top-down.
|
||||
String messageString = getMessageType(c);
|
||||
Class existingClass = messageClasses.get(messageString);
|
||||
if (existingClass != null && !existingClass.equals(c))
|
||||
throw new MessageException("Message String \'" + messageString +
|
||||
"\' is assigned to two different classes (" +
|
||||
c.getName() + " and " + existingClass.getName() + ")");
|
||||
messageClasses.put(messageString, c);
|
||||
}
|
||||
catch (MessageException ex) {
|
||||
// should be changed to be a hooked method to give library user control
|
||||
System.out.println(ex.getMessage());
|
||||
}finally {
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
public static String getMessageType(Class c) {
|
||||
return ((MessageType) c.getAnnotation(MessageType.class)).string();
|
||||
}
|
||||
|
||||
// this has never been used or tested but kind of belongs here
|
||||
// commented out because it uses ReflectiveOperationException which is not available on Android
|
||||
/*
|
||||
public static Message newInstance(String className) {
|
||||
try {
|
||||
Class messageClass = Class.forName(className);
|
||||
if (Message.class.isAssignableFrom(messageClass))
|
||||
return (Message) messageClass.newInstance();
|
||||
else throw new ClassCastException();
|
||||
}
|
||||
catch (ReflectiveOperationException ex) {
|
||||
throw new RuntimeException("Unable to create message of class \'" + className + "\'.", ex);
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
// Could probably do more checking here, but not sure what right now
|
||||
private static void typecheck(Class c) throws MessageException {
|
||||
|
||||
// Must inherit from Message
|
||||
if (!Message.class.isAssignableFrom(c))
|
||||
throw new MessageException("Class \'" + c.getName() +
|
||||
"\' does not extend Message");
|
||||
|
||||
// Must have the MessageType annotation
|
||||
if (getMessageType(c) == null)
|
||||
throw new MessageException("Class \'" + c.getName() +
|
||||
"\' is missing the MessageType annotation");
|
||||
|
||||
// All fields must also be valid Message classes
|
||||
// Note that this also serves to force-load all the message classes
|
||||
// so that they get registered
|
||||
for (Field f : c.getFields()) {
|
||||
Class fc = f.getType();
|
||||
if (fc.isArray()) {
|
||||
Class ac = fc.getComponentType();
|
||||
if (!isPrimitive(ac))
|
||||
typecheck(ac);
|
||||
}
|
||||
else if (!isPrimitive(fc))
|
||||
typecheck(fc);
|
||||
}
|
||||
}
|
||||
|
||||
public void print() {
|
||||
printMessage(this, "");
|
||||
}
|
||||
|
||||
private static void printMessage(Object o, String indent) {
|
||||
for (Field f : o.getClass().getFields()) {
|
||||
Class c = f.getType();
|
||||
Object fieldObject = getFieldObject(f, o);
|
||||
if (fieldObject != null) {
|
||||
if (isPrimitive(c))
|
||||
System.out.println(indent + f.getName() + ": " + fieldObject);
|
||||
else if (c.isArray()) {
|
||||
System.out.println(indent + f.getName() + ": [");
|
||||
printArray(fieldObject, indent + " ");
|
||||
System.out.println(indent + "]");
|
||||
}
|
||||
else {
|
||||
System.out.println(indent + f.getName() + ":");
|
||||
printMessage(fieldObject, indent + " ");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private static void printArray(Object array, String indent) {
|
||||
Class arrayClass = array.getClass().getComponentType();
|
||||
for (int i = 0; i < Array.getLength(array); i++) {
|
||||
Object elementObject = Array.get(array, i);
|
||||
if (elementObject != null) {
|
||||
if (isPrimitive(arrayClass))
|
||||
System.out.println(indent + i + ": " + elementObject);
|
||||
else if (arrayClass.isArray()) { // this is not actually allowed in ROS
|
||||
System.out.println(indent + i + ": [");
|
||||
printArray(elementObject, indent + " ");
|
||||
System.out.println(indent + "]");
|
||||
}
|
||||
else {
|
||||
System.out.println(indent + i + ":");
|
||||
printMessage(elementObject, indent + " ");
|
||||
}
|
||||
}
|
||||
}
|
||||
// remember to print array indices
|
||||
}
|
||||
|
||||
public static boolean isPrimitive(Class c) {
|
||||
return (c.isPrimitive() ||
|
||||
c.equals(String.class) ||
|
||||
Number.class.isAssignableFrom(c) ||
|
||||
c.equals(Boolean.class));
|
||||
}
|
||||
|
||||
|
||||
// Copied from com.jilk.ros.rosbridge.JSON
|
||||
private static Object getFieldObject(Field f, Object o) {
|
||||
Object fo = null;
|
||||
try {
|
||||
fo = f.get(o);
|
||||
}
|
||||
catch (IllegalAccessException ex) {
|
||||
ex.printStackTrace();
|
||||
}
|
||||
finally {
|
||||
|
||||
}
|
||||
return fo;
|
||||
}
|
||||
|
||||
public void copyFrom(Message source) {
|
||||
try {
|
||||
if (source.getClass() != getClass())
|
||||
throw new RuntimeException("Attempt to copy non-matching classes");
|
||||
for (Field f : getClass().getFields()) {
|
||||
Class fc = f.getType();
|
||||
if (fc.isArray())
|
||||
throw new RuntimeException("copyFrom - array types not implemented");
|
||||
else if (!isPrimitive(fc))
|
||||
((Message) f.get(this)).copyFrom((Message) f.get(source));
|
||||
else {
|
||||
Object value = f.get(source);
|
||||
f.set(this, value);
|
||||
}
|
||||
}
|
||||
}
|
||||
catch (IllegalAccessException ex) {
|
||||
throw new RuntimeException("copyFrom error", ex);
|
||||
}
|
||||
catch (ClassCastException ex) {
|
||||
throw new RuntimeException("copyFrom error", ex);
|
||||
}
|
||||
finally {
|
||||
|
||||
}
|
||||
// ReflectiveOperationException is not available on Android (Java 1.6)
|
||||
/*
|
||||
catch (ReflectiveOperationException ex) {
|
||||
throw new RuntimeException ("copyFrom error", ex);
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
}
|
||||
@ -0,0 +1,32 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
public class MessageException extends Exception {
|
||||
|
||||
public MessageException(String message) {
|
||||
super(message);
|
||||
}
|
||||
|
||||
public MessageException(String message, Throwable cause) {
|
||||
super(message, cause);
|
||||
}
|
||||
}
|
||||
|
||||
@ -0,0 +1,32 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
import java.lang.annotation.ElementType;
|
||||
import java.lang.annotation.Retention;
|
||||
import java.lang.annotation.RetentionPolicy;
|
||||
import java.lang.annotation.Target;
|
||||
|
||||
@Retention(RetentionPolicy.RUNTIME)
|
||||
@Target(ElementType.TYPE)
|
||||
public @interface MessageType {
|
||||
String string() default "";
|
||||
}
|
||||
|
||||
@ -0,0 +1,13 @@
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
/**
|
||||
* Created by xxhong on 16-11-17.
|
||||
*/
|
||||
@MessageType(string = "std_msgs/String")
|
||||
public class SemanticRequest extends Message {
|
||||
public SemanticRequest(String args) {
|
||||
jsonStr = args;
|
||||
}
|
||||
|
||||
public String jsonStr;
|
||||
}
|
||||
@ -0,0 +1,9 @@
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
/**
|
||||
* Created by xxhong on 16-11-17.
|
||||
*/
|
||||
@MessageType(string = "std_msgs/String")
|
||||
public class SemanticResponse extends Message {
|
||||
public String result;
|
||||
}
|
||||
@ -0,0 +1,9 @@
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
/**
|
||||
* Created by xxhong on 16-11-17.
|
||||
*/
|
||||
@MessageType(string = "std_msgs/String")
|
||||
public class StdMsg extends Message {
|
||||
public String data;
|
||||
}
|
||||
@ -0,0 +1,24 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
@MessageType(string = "std_msgs/Time")
|
||||
public class Time extends TimePrimitive {
|
||||
}
|
||||
@ -0,0 +1,26 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros.message;
|
||||
|
||||
@MessageType(string = "time")
|
||||
public class TimePrimitive extends Message {
|
||||
public int secs; // when requesting this format from ROSbridge, it uses 'sec' (no 's')
|
||||
public int nsecs; // when requesting this format from ROSbridge, it uses 'nsec'
|
||||
}
|
||||
@ -0,0 +1,178 @@
|
||||
package com.jilk.ros.message.ros.model;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
/**
|
||||
* Created by super_yu on 2018/1/8.
|
||||
*/
|
||||
|
||||
public class FootPrintResult {
|
||||
/**
|
||||
* header : {"seq":4297,"frame_id":"odom","stamp":{"secs":1515378187,"nsecs":125325857}}
|
||||
* polygon : {"points":[{"z":0,"x":0.31369608640670776,"y":-0.5355392694473267},{"z":0,"x":0.35115259885787964,"y":-0.016890067607164383},{"z":0,"x":-0.30713292956352234,"y":0.03065088950097561},{"z":0,"x":-0.3445894420146942,"y":-0.4879983365535736}]}
|
||||
*/
|
||||
|
||||
private HeaderBean header;
|
||||
private PolygonBean polygon;
|
||||
|
||||
public HeaderBean getHeader() {
|
||||
return header;
|
||||
}
|
||||
|
||||
public void setHeader(HeaderBean header) {
|
||||
this.header = header;
|
||||
}
|
||||
|
||||
public PolygonBean getPolygon() {
|
||||
return polygon;
|
||||
}
|
||||
|
||||
public void setPolygon(PolygonBean polygon) {
|
||||
this.polygon = polygon;
|
||||
}
|
||||
|
||||
public static class HeaderBean {
|
||||
/**
|
||||
* seq : 4297
|
||||
* frame_id : odom
|
||||
* stamp : {"secs":1515378187,"nsecs":125325857}
|
||||
*/
|
||||
|
||||
private int seq;
|
||||
private String frame_id;
|
||||
private StampBean stamp;
|
||||
|
||||
public int getSeq() {
|
||||
return seq;
|
||||
}
|
||||
|
||||
public void setSeq(int seq) {
|
||||
this.seq = seq;
|
||||
}
|
||||
|
||||
public String getFrame_id() {
|
||||
return frame_id;
|
||||
}
|
||||
|
||||
public void setFrame_id(String frame_id) {
|
||||
this.frame_id = frame_id;
|
||||
}
|
||||
|
||||
public StampBean getStamp() {
|
||||
return stamp;
|
||||
}
|
||||
|
||||
public void setStamp(StampBean stamp) {
|
||||
this.stamp = stamp;
|
||||
}
|
||||
|
||||
public static class StampBean {
|
||||
/**
|
||||
* secs : 1515378187
|
||||
* nsecs : 125325857
|
||||
*/
|
||||
|
||||
private int secs;
|
||||
private int nsecs;
|
||||
|
||||
public int getSecs() {
|
||||
return secs;
|
||||
}
|
||||
|
||||
public void setSecs(int secs) {
|
||||
this.secs = secs;
|
||||
}
|
||||
|
||||
public int getNsecs() {
|
||||
return nsecs;
|
||||
}
|
||||
|
||||
public void setNsecs(int nsecs) {
|
||||
this.nsecs = nsecs;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public static class PolygonBean {
|
||||
private List<PointsBean> points;
|
||||
|
||||
public List<PointsBean> getPoints() {
|
||||
return points;
|
||||
}
|
||||
|
||||
public void setPoints(List<PointsBean> points) {
|
||||
this.points = points;
|
||||
}
|
||||
|
||||
public static class PointsBean {
|
||||
/**
|
||||
* z : 0
|
||||
* x : 0.31369608640670776
|
||||
* y : -0.5355392694473267
|
||||
*/
|
||||
|
||||
private int z;
|
||||
private double x;
|
||||
private double y;
|
||||
|
||||
public int getZ() {
|
||||
return z;
|
||||
}
|
||||
|
||||
public void setZ(int z) {
|
||||
this.z = z;
|
||||
}
|
||||
|
||||
public double getX() {
|
||||
return x;
|
||||
}
|
||||
|
||||
public void setX(double x) {
|
||||
this.x = x;
|
||||
}
|
||||
|
||||
public double getY() {
|
||||
return y;
|
||||
}
|
||||
|
||||
public void setY(double y) {
|
||||
this.y = y;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// {
|
||||
// "header": {
|
||||
// "seq": 4297,
|
||||
// "frame_id": "odom",
|
||||
// "stamp": {
|
||||
// "secs": 1515378187,
|
||||
// "nsecs": 125325857
|
||||
// }
|
||||
// },
|
||||
// "polygon": {
|
||||
// "points": [
|
||||
// {
|
||||
// "z": 0,
|
||||
// "x": 0.31369608640670776,
|
||||
// "y": -0.5355392694473267
|
||||
// },
|
||||
// {
|
||||
// "z": 0,
|
||||
// "x": 0.35115259885787964,
|
||||
// "y": -0.016890067607164383
|
||||
// },
|
||||
// {
|
||||
// "z": 0,
|
||||
// "x": -0.30713292956352234,
|
||||
// "y": 0.03065088950097561
|
||||
// },
|
||||
// {
|
||||
// "z": 0,
|
||||
// "x": -0.3445894420146942,
|
||||
// "y": -0.4879983365535736
|
||||
// }
|
||||
// ]
|
||||
// }
|
||||
// }
|
||||
}
|
||||
@ -0,0 +1,274 @@
|
||||
package com.jilk.ros.message.ros.model;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
/**
|
||||
* Created by super_yu on 2018/2/5.
|
||||
*/
|
||||
|
||||
public class InitPoseResult {
|
||||
|
||||
/**
|
||||
* op : publish
|
||||
* topic : /initialpose
|
||||
* msg : {"header":{"frame_id":"map"},"pose":{"pose":{"position":{"x":0,"y":0,"z":0},"orientation":{"x":0,"y":0,"z":0,"w":1}},"covariance":[0.25,0,0,0,0,0,0,0.25,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.06853891945200942]}}
|
||||
*/
|
||||
|
||||
private String op = "publish";
|
||||
private String topic = "/initialpose";
|
||||
private MsgBean msg;
|
||||
|
||||
|
||||
public MsgBean getMsg() {
|
||||
return msg;
|
||||
}
|
||||
|
||||
public void setMsg(MsgBean msg) {
|
||||
this.msg = msg;
|
||||
}
|
||||
|
||||
public static class MsgBean {
|
||||
/**
|
||||
* header : {"frame_id":"map"}
|
||||
* pose : {"pose":{"position":{"x":0,"y":0,"z":0},"orientation":{"x":0,"y":0,"z":0,"w":1}},"covariance":[0.25,0,0,0,0,0,0,0.25,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.06853891945200942]}
|
||||
*/
|
||||
|
||||
private HeaderBean header;
|
||||
private PoseBeanX pose;
|
||||
|
||||
public HeaderBean getHeader() {
|
||||
return header;
|
||||
}
|
||||
|
||||
public void setHeader(HeaderBean header) {
|
||||
this.header = header;
|
||||
}
|
||||
|
||||
public PoseBeanX getPose() {
|
||||
return pose;
|
||||
}
|
||||
|
||||
public void setPose(PoseBeanX pose) {
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
public static class HeaderBean {
|
||||
/**
|
||||
* frame_id : map
|
||||
*/
|
||||
|
||||
private String frame_id = "map";
|
||||
}
|
||||
|
||||
public static class PoseBeanX {
|
||||
/**
|
||||
* pose : {"position":{"x":0,"y":0,"z":0},"orientation":{"x":0,"y":0,"z":0,"w":1}}
|
||||
* covariance :
|
||||
* 0.25,0,0,0,0,0,0,0.25,
|
||||
* 0,0,0,0,0,0,0,0,0,0,0,
|
||||
* 0,0,0,0,0,0,0,0,0,0,0,
|
||||
* 0,0,0,0,0,0.06853891945200942
|
||||
*/
|
||||
|
||||
private PoseBean pose;
|
||||
private List<Double> covariance;
|
||||
|
||||
public PoseBean getPose() {
|
||||
return pose;
|
||||
}
|
||||
|
||||
public void setPose(PoseBean pose) {
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
public void setCovariance() {
|
||||
covariance = new ArrayList<Double>();
|
||||
for (int i = 0; i < 36; i++) {
|
||||
if (i == 0) {
|
||||
covariance.add(0.25);
|
||||
} else if (i == 7) {
|
||||
covariance.add(0.25);
|
||||
} else if (i == 35) {
|
||||
covariance.add(0.06853891945200942);
|
||||
|
||||
} else {
|
||||
covariance.add((double) 0);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public static class PoseBean {
|
||||
/**
|
||||
* position : {"x":0,"y":0,"z":0}
|
||||
* orientation : {"x":0,"y":0,"z":0,"w":1}
|
||||
*/
|
||||
|
||||
private PositionBean position;
|
||||
private OrientationBean orientation;
|
||||
|
||||
public PositionBean getPosition() {
|
||||
return position;
|
||||
}
|
||||
|
||||
public void setPosition(PositionBean position) {
|
||||
this.position = position;
|
||||
}
|
||||
|
||||
public OrientationBean getOrientation() {
|
||||
return orientation;
|
||||
}
|
||||
|
||||
public void setOrientation(OrientationBean orientation) {
|
||||
this.orientation = orientation;
|
||||
}
|
||||
|
||||
public static class PositionBean {
|
||||
/**
|
||||
* x : 0
|
||||
* y : 0
|
||||
* z : 0
|
||||
*/
|
||||
|
||||
private double x;
|
||||
private double y;
|
||||
private double z;
|
||||
|
||||
public double getX() {
|
||||
return x;
|
||||
}
|
||||
|
||||
public void setX(double x) {
|
||||
this.x = x;
|
||||
}
|
||||
|
||||
public double getY() {
|
||||
return y;
|
||||
}
|
||||
|
||||
public void setY(double y) {
|
||||
this.y = y;
|
||||
}
|
||||
|
||||
public double getZ() {
|
||||
return z;
|
||||
}
|
||||
|
||||
public void setZ(double z) {
|
||||
this.z = z;
|
||||
}
|
||||
}
|
||||
|
||||
public static class OrientationBean {
|
||||
/**
|
||||
* x : 0
|
||||
* y : 0
|
||||
* z : 0
|
||||
* w : 1
|
||||
*/
|
||||
|
||||
private double x;
|
||||
private double y;
|
||||
private double z;
|
||||
private double w;
|
||||
|
||||
public double getX() {
|
||||
return x;
|
||||
}
|
||||
|
||||
public void setX(double x) {
|
||||
this.x = x;
|
||||
}
|
||||
|
||||
public double getY() {
|
||||
return y;
|
||||
}
|
||||
|
||||
public void setY(double y) {
|
||||
this.y = y;
|
||||
}
|
||||
|
||||
public double getZ() {
|
||||
return z;
|
||||
}
|
||||
|
||||
public void setZ(double z) {
|
||||
this.z = z;
|
||||
}
|
||||
|
||||
public double getW() {
|
||||
return w;
|
||||
}
|
||||
|
||||
public void setW(double w) {
|
||||
this.w = w;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// {
|
||||
// "op": "publish",
|
||||
// "topic": "/initialpose",
|
||||
// "msg": {
|
||||
// "header": {
|
||||
// "frame_id": "map"
|
||||
// },
|
||||
// "pose": {
|
||||
// "pose": {
|
||||
// "position": {
|
||||
// "x": 0,
|
||||
// "y": 0,
|
||||
// "z": 0
|
||||
// },
|
||||
// "orientation": {
|
||||
// "x": 0,
|
||||
// "y": 0,
|
||||
// "z": 0,
|
||||
// "w": 1
|
||||
// }
|
||||
// },
|
||||
// "covariance": [
|
||||
// 0.25,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0.25,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0.06853891945200942
|
||||
// ]
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
}
|
||||
@ -0,0 +1,501 @@
|
||||
package com.jilk.ros.message.ros.model;
|
||||
|
||||
/**
|
||||
* Created by super_yu on 2018/1/5.
|
||||
*/
|
||||
|
||||
import java.util.List;
|
||||
|
||||
/**
|
||||
*对位置移动有数据变化的是
|
||||
* orientation z、w
|
||||
* position x、y
|
||||
* twist x
|
||||
* angular z
|
||||
* Created by super_yu on 2017/9/29.
|
||||
*/
|
||||
|
||||
public class PoiResult {
|
||||
|
||||
/**
|
||||
* twist : {"twist":{"angular":{"z":0,"y":0,"x":0},"linear":{"z":0,"y":0,"x":0}},"covariance":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]}
|
||||
* child_frame_id : base_footprint
|
||||
* pose : {"covariance":[0.1,0,0,0,0,0,0,0.1,0,0,0,0,0,0,1.7976931348623157E308,0,0,0,0,0,0,1.7976931348623157E308,0,0,0,0,0,0,1.7976931348623157E308,0,0,0,0,0,0,0.2],"pose":{"position":{"z":0,"y":-0.16137039724419636,"x":0.001470031525333453},"orientation":{"w":-0.08271030624895466,"z":-0.9965736326234024,"y":"-0","x":0}}}
|
||||
* header : {"seq":69712,"stamp":{"secs":1506650141,"nsecs":455670567},"frame_id":"odom"}
|
||||
*/
|
||||
|
||||
private TwistBeanX twist;
|
||||
private String child_frame_id;
|
||||
private PoseBeanX pose;
|
||||
private HeaderBean header;
|
||||
|
||||
public TwistBeanX getTwist() {
|
||||
return twist;
|
||||
}
|
||||
|
||||
public void setTwist(TwistBeanX twist) {
|
||||
this.twist = twist;
|
||||
}
|
||||
|
||||
public String getChild_frame_id() {
|
||||
return child_frame_id;
|
||||
}
|
||||
|
||||
public void setChild_frame_id(String child_frame_id) {
|
||||
this.child_frame_id = child_frame_id;
|
||||
}
|
||||
|
||||
public PoseBeanX getPose() {
|
||||
return pose;
|
||||
}
|
||||
|
||||
public void setPose(PoseBeanX pose) {
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
public HeaderBean getHeader() {
|
||||
return header;
|
||||
}
|
||||
|
||||
public void setHeader(HeaderBean header) {
|
||||
this.header = header;
|
||||
}
|
||||
|
||||
public static class TwistBeanX {
|
||||
/**
|
||||
* twist : {"angular":{"z":0,"y":0,"x":0},"linear":{"z":0,"y":0,"x":0}}
|
||||
* covariance : [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
|
||||
*/
|
||||
|
||||
private TwistBean twist;
|
||||
private List<Integer> covariance;
|
||||
|
||||
public TwistBean getTwist() {
|
||||
return twist;
|
||||
}
|
||||
|
||||
public void setTwist(TwistBean twist) {
|
||||
this.twist = twist;
|
||||
}
|
||||
|
||||
public List<Integer> getCovariance() {
|
||||
return covariance;
|
||||
}
|
||||
|
||||
public void setCovariance(List<Integer> covariance) {
|
||||
this.covariance = covariance;
|
||||
}
|
||||
|
||||
public static class TwistBean {
|
||||
/**
|
||||
* angular : {"z":0,"y":0,"x":0}
|
||||
* linear : {"z":0,"y":0,"x":0}
|
||||
*/
|
||||
|
||||
private AngularBean angular;
|
||||
private LinearBean linear;
|
||||
|
||||
public AngularBean getAngular() {
|
||||
return angular;
|
||||
}
|
||||
|
||||
public void setAngular(AngularBean angular) {
|
||||
this.angular = angular;
|
||||
}
|
||||
|
||||
public LinearBean getLinear() {
|
||||
return linear;
|
||||
}
|
||||
|
||||
public void setLinear(LinearBean linear) {
|
||||
this.linear = linear;
|
||||
}
|
||||
|
||||
public static class AngularBean {
|
||||
/**
|
||||
* z : 0
|
||||
* y : 0
|
||||
* x : 0
|
||||
*/
|
||||
|
||||
private int z;
|
||||
private int y;
|
||||
private int x;
|
||||
|
||||
public int getZ() {
|
||||
return z;
|
||||
}
|
||||
|
||||
public void setZ(int z) {
|
||||
this.z = z;
|
||||
}
|
||||
|
||||
public int getY() {
|
||||
return y;
|
||||
}
|
||||
|
||||
public void setY(int y) {
|
||||
this.y = y;
|
||||
}
|
||||
|
||||
public int getX() {
|
||||
return x;
|
||||
}
|
||||
|
||||
public void setX(int x) {
|
||||
this.x = x;
|
||||
}
|
||||
}
|
||||
|
||||
public static class LinearBean {
|
||||
/**
|
||||
* z : 0
|
||||
* y : 0
|
||||
* x : 0
|
||||
*/
|
||||
|
||||
private int z;
|
||||
private int y;
|
||||
private int x;
|
||||
|
||||
public int getZ() {
|
||||
return z;
|
||||
}
|
||||
|
||||
public void setZ(int z) {
|
||||
this.z = z;
|
||||
}
|
||||
|
||||
public int getY() {
|
||||
return y;
|
||||
}
|
||||
|
||||
public void setY(int y) {
|
||||
this.y = y;
|
||||
}
|
||||
|
||||
public int getX() {
|
||||
return x;
|
||||
}
|
||||
|
||||
public void setX(int x) {
|
||||
this.x = x;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public static class PoseBeanX {
|
||||
/**
|
||||
* covariance : [0.1,0,0,0,0,0,0,0.1,0,0,0,0,0,0,1.7976931348623157E308,0,0,0,0,0,0,1.7976931348623157E308,0,0,0,0,0,0,1.7976931348623157E308,0,0,0,0,0,0,0.2]
|
||||
* pose : {"position":{"z":0,"y":-0.16137039724419636,"x":0.001470031525333453},"orientation":{"w":-0.08271030624895466,"z":-0.9965736326234024,"y":"-0","x":0}}
|
||||
*/
|
||||
|
||||
private PoseBean pose;
|
||||
private List<Double> covariance;
|
||||
|
||||
public PoseBean getPose() {
|
||||
return pose;
|
||||
}
|
||||
|
||||
public void setPose(PoseBean pose) {
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
public List<Double> getCovariance() {
|
||||
return covariance;
|
||||
}
|
||||
|
||||
public void setCovariance(List<Double> covariance) {
|
||||
this.covariance = covariance;
|
||||
}
|
||||
|
||||
public static class PoseBean {
|
||||
/**
|
||||
* position : {"z":0,"y":-0.16137039724419636,"x":0.001470031525333453}
|
||||
* orientation : {"w":-0.08271030624895466,"z":-0.9965736326234024,"y":"-0","x":0}
|
||||
*/
|
||||
|
||||
private PositionBean position;
|
||||
private OrientationBean orientation;
|
||||
|
||||
public PositionBean getPosition() {
|
||||
return position;
|
||||
}
|
||||
|
||||
public void setPosition(PositionBean position) {
|
||||
this.position = position;
|
||||
}
|
||||
|
||||
public OrientationBean getOrientation() {
|
||||
return orientation;
|
||||
}
|
||||
|
||||
public void setOrientation(OrientationBean orientation) {
|
||||
this.orientation = orientation;
|
||||
}
|
||||
|
||||
public static class PositionBean {
|
||||
/**
|
||||
* z : 0
|
||||
* y : -0.16137039724419636
|
||||
* x : 0.001470031525333453
|
||||
*/
|
||||
|
||||
private int z;
|
||||
private double y;
|
||||
private double x;
|
||||
|
||||
public int getZ() {
|
||||
return z;
|
||||
}
|
||||
|
||||
public void setZ(int z) {
|
||||
this.z = z;
|
||||
}
|
||||
|
||||
public double getY() {
|
||||
return y;
|
||||
}
|
||||
|
||||
public void setY(double y) {
|
||||
this.y = y;
|
||||
}
|
||||
|
||||
public double getX() {
|
||||
return x;
|
||||
}
|
||||
|
||||
public void setX(double x) {
|
||||
this.x = x;
|
||||
}
|
||||
}
|
||||
|
||||
public static class OrientationBean {
|
||||
/**
|
||||
* w : -0.08271030624895466
|
||||
* z : -0.9965736326234024
|
||||
* y : -0
|
||||
* x : 0
|
||||
*/
|
||||
|
||||
private double w;
|
||||
private double z;
|
||||
private String y;
|
||||
private int x;
|
||||
|
||||
public double getW() {
|
||||
return w;
|
||||
}
|
||||
|
||||
public void setW(double w) {
|
||||
this.w = w;
|
||||
}
|
||||
|
||||
public double getZ() {
|
||||
return z;
|
||||
}
|
||||
|
||||
public void setZ(double z) {
|
||||
this.z = z;
|
||||
}
|
||||
|
||||
public String getY() {
|
||||
return y;
|
||||
}
|
||||
|
||||
public void setY(String y) {
|
||||
this.y = y;
|
||||
}
|
||||
|
||||
public int getX() {
|
||||
return x;
|
||||
}
|
||||
|
||||
public void setX(int x) {
|
||||
this.x = x;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public static class HeaderBean {
|
||||
/**
|
||||
* seq : 69712
|
||||
* stamp : {"secs":1506650141,"nsecs":455670567}
|
||||
* frame_id : odom
|
||||
*/
|
||||
|
||||
private int seq;
|
||||
private StampBean stamp;
|
||||
private String frame_id;
|
||||
|
||||
public int getSeq() {
|
||||
return seq;
|
||||
}
|
||||
|
||||
public void setSeq(int seq) {
|
||||
this.seq = seq;
|
||||
}
|
||||
|
||||
public StampBean getStamp() {
|
||||
return stamp;
|
||||
}
|
||||
|
||||
public void setStamp(StampBean stamp) {
|
||||
this.stamp = stamp;
|
||||
}
|
||||
|
||||
public String getFrame_id() {
|
||||
return frame_id;
|
||||
}
|
||||
|
||||
public void setFrame_id(String frame_id) {
|
||||
this.frame_id = frame_id;
|
||||
}
|
||||
|
||||
public static class StampBean {
|
||||
/**
|
||||
* secs : 1506650141
|
||||
* nsecs : 455670567
|
||||
*/
|
||||
|
||||
private int secs;
|
||||
private int nsecs;
|
||||
|
||||
public int getSecs() {
|
||||
return secs;
|
||||
}
|
||||
|
||||
public void setSecs(int secs) {
|
||||
this.secs = secs;
|
||||
}
|
||||
|
||||
public int getNsecs() {
|
||||
return nsecs;
|
||||
}
|
||||
|
||||
public void setNsecs(int nsecs) {
|
||||
this.nsecs = nsecs;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//
|
||||
// {
|
||||
// "twist": {
|
||||
// "twist": {
|
||||
// "angular": {
|
||||
// "z": 0,
|
||||
// "y": 0,
|
||||
// "x": 0
|
||||
// },
|
||||
// "linear": {
|
||||
// "z": 0,
|
||||
// "y": 0,
|
||||
// "x": 0
|
||||
// }
|
||||
// },
|
||||
// "covariance": [
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0
|
||||
// ]
|
||||
// },
|
||||
// "child_frame_id": "base_footprint",
|
||||
// "pose": {
|
||||
// "covariance": [
|
||||
// 0.1,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0.1,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 1.7976931348623157E308,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 1.7976931348623157E308,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 1.7976931348623157E308,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0,
|
||||
// 0.2
|
||||
// ],
|
||||
// "pose": {
|
||||
// "position": {
|
||||
// "z": 0,
|
||||
// "y": -0.16137039724419636,
|
||||
// "x": 0.001470031525333453
|
||||
// },
|
||||
// "orientation": {
|
||||
// "w": -0.08271030624895466,
|
||||
// "z": -0.9965736326234024,
|
||||
// "y": -0,
|
||||
// "x": 0
|
||||
// }
|
||||
// }
|
||||
// },
|
||||
// "header": {
|
||||
// "seq": 69712,
|
||||
// "stamp": {
|
||||
// "secs": 1506650141,
|
||||
// "nsecs": 455670567
|
||||
// },
|
||||
// "frame_id": "odom"
|
||||
// }
|
||||
// }
|
||||
}
|
||||
@ -0,0 +1,246 @@
|
||||
package com.jilk.ros.message.ros.nav;
|
||||
|
||||
/**
|
||||
* Created by super_yu on 27/10/2017.
|
||||
*/
|
||||
|
||||
public class Move_Base_Goal {
|
||||
/**
|
||||
* msg : {"target_pose":{"header":{"frame_id":"/map"},"pose":{"w":0.72508,"x":0.00455891,"y":0.0110448,"z":-0.688561}},"base_position":{"header":{"frame_id":"/map"},"pose":{"x":-5.56034,"y":0.543951,"z":2.96803E-4}}}
|
||||
* op : publish
|
||||
* topic : /move_base/goal
|
||||
*/
|
||||
|
||||
private MsgBean msg;
|
||||
private String op = "publish";
|
||||
private String topic = "/move_base/goal";
|
||||
|
||||
public MsgBean getMsg() {
|
||||
return msg;
|
||||
}
|
||||
|
||||
public void setMsg(MsgBean msg) {
|
||||
this.msg = msg;
|
||||
}
|
||||
|
||||
public String getOp() {
|
||||
return op;
|
||||
}
|
||||
|
||||
public String getTopic() {
|
||||
return topic;
|
||||
}
|
||||
|
||||
public static class MsgBean {
|
||||
/**
|
||||
* target_pose : {"header":{"frame_id":"/map"},"pose":{"w":0.72508,"x":0.00455891,"y":0.0110448,"z":-0.688561}}
|
||||
* base_position : {"header":{"frame_id":"/map"},"pose":{"x":-5.56034,"y":0.543951,"z":2.96803E-4}}
|
||||
*/
|
||||
|
||||
private TargetPoseBean target_pose;
|
||||
private BasePositionBean base_position;
|
||||
|
||||
public TargetPoseBean getTarget_pose() {
|
||||
return target_pose;
|
||||
}
|
||||
|
||||
public void setTarget_pose(TargetPoseBean target_pose) {
|
||||
this.target_pose = target_pose;
|
||||
}
|
||||
|
||||
public BasePositionBean getBase_position() {
|
||||
return base_position;
|
||||
}
|
||||
|
||||
public void setBase_position(BasePositionBean base_position) {
|
||||
this.base_position = base_position;
|
||||
}
|
||||
|
||||
public static class TargetPoseBean {
|
||||
/**
|
||||
* header : {"frame_id":"/map"}
|
||||
* pose : {"w":0.72508,"x":0.00455891,"y":0.0110448,"z":-0.688561}
|
||||
*/
|
||||
|
||||
private HeaderBean header;
|
||||
private PoseBean pose;
|
||||
|
||||
public HeaderBean getHeader() {
|
||||
return header;
|
||||
}
|
||||
|
||||
public void setHeader(HeaderBean header) {
|
||||
this.header = header;
|
||||
}
|
||||
|
||||
public PoseBean getPose() {
|
||||
return pose;
|
||||
}
|
||||
|
||||
public void setPose(PoseBean pose) {
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
public static class HeaderBean {
|
||||
/**
|
||||
* frame_id : /map
|
||||
*/
|
||||
|
||||
private String frame_id = "/map";
|
||||
|
||||
public String getFrame_id() {
|
||||
return frame_id;
|
||||
}
|
||||
}
|
||||
|
||||
public static class PoseBean {
|
||||
/**
|
||||
* w : 0.72508
|
||||
* x : 0.00455891
|
||||
* y : 0.0110448
|
||||
* z : -0.688561
|
||||
*/
|
||||
|
||||
private double w;
|
||||
private double x;
|
||||
private double y;
|
||||
private double z;
|
||||
|
||||
public double getW() {
|
||||
return w;
|
||||
}
|
||||
|
||||
public void setW(double w) {
|
||||
this.w = w;
|
||||
}
|
||||
|
||||
public double getX() {
|
||||
return x;
|
||||
}
|
||||
|
||||
public void setX(double x) {
|
||||
this.x = x;
|
||||
}
|
||||
|
||||
public double getY() {
|
||||
return y;
|
||||
}
|
||||
|
||||
public void setY(double y) {
|
||||
this.y = y;
|
||||
}
|
||||
|
||||
public double getZ() {
|
||||
return z;
|
||||
}
|
||||
|
||||
public void setZ(double z) {
|
||||
this.z = z;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public static class BasePositionBean {
|
||||
/**
|
||||
* header : {"frame_id":"/map"}
|
||||
* pose : {"x":-5.56034,"y":0.543951,"z":2.96803E-4}
|
||||
*/
|
||||
|
||||
private HeaderBeanX header;
|
||||
private PoseBeanX pose;
|
||||
|
||||
public HeaderBeanX getHeader() {
|
||||
return header;
|
||||
}
|
||||
|
||||
public void setHeader(HeaderBeanX header) {
|
||||
this.header = header;
|
||||
}
|
||||
|
||||
public PoseBeanX getPose() {
|
||||
return pose;
|
||||
}
|
||||
|
||||
public void setPose(PoseBeanX pose) {
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
public static class HeaderBeanX {
|
||||
/**
|
||||
* frame_id : /map
|
||||
*/
|
||||
|
||||
private String frame_id = "/map";
|
||||
|
||||
public String getFrame_id() {
|
||||
return frame_id;
|
||||
}
|
||||
}
|
||||
|
||||
public static class PoseBeanX {
|
||||
/**
|
||||
* x : -5.56034
|
||||
* y : 0.543951
|
||||
* z : 2.96803E-4
|
||||
*/
|
||||
|
||||
private double x;
|
||||
private double y;
|
||||
private double z;
|
||||
|
||||
public double getX() {
|
||||
return x;
|
||||
}
|
||||
|
||||
public void setX(double x) {
|
||||
this.x = x;
|
||||
}
|
||||
|
||||
public double getY() {
|
||||
return y;
|
||||
}
|
||||
|
||||
public void setY(double y) {
|
||||
this.y = y;
|
||||
}
|
||||
|
||||
public double getZ() {
|
||||
return z;
|
||||
}
|
||||
|
||||
public void setZ(double z) {
|
||||
this.z = z;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// {
|
||||
// "op": "publish",
|
||||
// "topic": "/move_base/goal",
|
||||
// "msg": {
|
||||
// "target_pose": {
|
||||
// "header": {
|
||||
// "frame_id": "/map"
|
||||
// },
|
||||
// "pose": {
|
||||
// "z": -0.695688,
|
||||
// "x": 0.000728705,
|
||||
// "w": 0.71834,
|
||||
// "y": 0.00213251
|
||||
// }
|
||||
// },
|
||||
// "base_position": {
|
||||
// "header": {
|
||||
// "frame_id": "/map"
|
||||
// },
|
||||
// "pose": {
|
||||
// "z": 0.00984454,
|
||||
// "x": -0.0483838,
|
||||
// "y": -0.00480753
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
}
|
||||
@ -0,0 +1,219 @@
|
||||
package com.jilk.ros.message.ros.nav;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
/**
|
||||
* Created by super_yu on 30/10/2017.
|
||||
*/
|
||||
|
||||
public class Move_Base_Status {
|
||||
/**
|
||||
* status_list : [{"goal_id":{"id":"map_6_A_603","stamp":{"secs":1509348841,"nsecs":490135242}},"text":"Goal reached.","status":3},{"goal_id":{"id":"map_6_A_601","stamp":{"secs":1509348875,"nsecs":650002258}},"text":"This goal has been accepted by the simple action server","status":1}]
|
||||
* header : {"seq":13516,"frame_id":"","stamp":{"secs":1509348876,"nsecs":156902566}}
|
||||
*/
|
||||
|
||||
private HeaderBean header;
|
||||
private List<StatusListBean> status_list;
|
||||
|
||||
public HeaderBean getHeader() {
|
||||
return header;
|
||||
}
|
||||
|
||||
public void setHeader(HeaderBean header) {
|
||||
this.header = header;
|
||||
}
|
||||
|
||||
public List<StatusListBean> getStatus_list() {
|
||||
return status_list;
|
||||
}
|
||||
|
||||
public void setStatus_list(List<StatusListBean> status_list) {
|
||||
this.status_list = status_list;
|
||||
}
|
||||
|
||||
public static class HeaderBean {
|
||||
/**
|
||||
* seq : 13516
|
||||
* frame_id :
|
||||
* stamp : {"secs":1509348876,"nsecs":156902566}
|
||||
*/
|
||||
|
||||
private int seq;
|
||||
private String frame_id;
|
||||
private StampBean stamp;
|
||||
|
||||
public int getSeq() {
|
||||
return seq;
|
||||
}
|
||||
|
||||
public void setSeq(int seq) {
|
||||
this.seq = seq;
|
||||
}
|
||||
|
||||
public String getFrame_id() {
|
||||
return frame_id;
|
||||
}
|
||||
|
||||
public void setFrame_id(String frame_id) {
|
||||
this.frame_id = frame_id;
|
||||
}
|
||||
|
||||
public StampBean getStamp() {
|
||||
return stamp;
|
||||
}
|
||||
|
||||
public void setStamp(StampBean stamp) {
|
||||
this.stamp = stamp;
|
||||
}
|
||||
|
||||
public static class StampBean {
|
||||
/**
|
||||
* secs : 1509348876
|
||||
* nsecs : 156902566
|
||||
*/
|
||||
|
||||
private int secs;
|
||||
private int nsecs;
|
||||
|
||||
public int getSecs() {
|
||||
return secs;
|
||||
}
|
||||
|
||||
public void setSecs(int secs) {
|
||||
this.secs = secs;
|
||||
}
|
||||
|
||||
public int getNsecs() {
|
||||
return nsecs;
|
||||
}
|
||||
|
||||
public void setNsecs(int nsecs) {
|
||||
this.nsecs = nsecs;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public static class StatusListBean {
|
||||
/**
|
||||
* goal_id : {"id":"map_6_A_603","stamp":{"secs":1509348841,"nsecs":490135242}}
|
||||
* text : Goal reached.
|
||||
* status : 3
|
||||
*/
|
||||
|
||||
private GoalIdBean goal_id;
|
||||
private String text;
|
||||
private int status;
|
||||
|
||||
public GoalIdBean getGoal_id() {
|
||||
return goal_id;
|
||||
}
|
||||
|
||||
public void setGoal_id(GoalIdBean goal_id) {
|
||||
this.goal_id = goal_id;
|
||||
}
|
||||
|
||||
public String getText() {
|
||||
return text;
|
||||
}
|
||||
|
||||
public void setText(String text) {
|
||||
this.text = text;
|
||||
}
|
||||
|
||||
public int getStatus() {
|
||||
return status;
|
||||
}
|
||||
|
||||
public void setStatus(int status) {
|
||||
this.status = status;
|
||||
}
|
||||
|
||||
public static class GoalIdBean {
|
||||
/**
|
||||
* id : map_6_A_603
|
||||
* stamp : {"secs":1509348841,"nsecs":490135242}
|
||||
*/
|
||||
|
||||
private String id;
|
||||
private StampBeanX stamp;
|
||||
|
||||
public String getId() {
|
||||
return id;
|
||||
}
|
||||
|
||||
public void setId(String id) {
|
||||
this.id = id;
|
||||
}
|
||||
|
||||
public StampBeanX getStamp() {
|
||||
return stamp;
|
||||
}
|
||||
|
||||
public void setStamp(StampBeanX stamp) {
|
||||
this.stamp = stamp;
|
||||
}
|
||||
|
||||
public static class StampBeanX {
|
||||
/**
|
||||
* secs : 1509348841
|
||||
* nsecs : 490135242
|
||||
*/
|
||||
|
||||
private int secs;
|
||||
private int nsecs;
|
||||
|
||||
public int getSecs() {
|
||||
return secs;
|
||||
}
|
||||
|
||||
public void setSecs(int secs) {
|
||||
this.secs = secs;
|
||||
}
|
||||
|
||||
public int getNsecs() {
|
||||
return nsecs;
|
||||
}
|
||||
|
||||
public void setNsecs(int nsecs) {
|
||||
this.nsecs = nsecs;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// {
|
||||
// "status_list": [
|
||||
// {
|
||||
// "goal_id": {
|
||||
// "id": "map_6_A_603",
|
||||
// "stamp": {
|
||||
// "secs": 1509348841,
|
||||
// "nsecs": 490135242
|
||||
// }
|
||||
// },
|
||||
// "text": "Goal reached.",
|
||||
// "status": 3
|
||||
// },
|
||||
// {
|
||||
// "goal_id": {
|
||||
// "id": "map_6_A_601",
|
||||
// "stamp": {
|
||||
// "secs": 1509348875,
|
||||
// "nsecs": 650002258
|
||||
// }
|
||||
// },
|
||||
// "text": "This goal has been accepted by the simple action server",
|
||||
// "status": 1
|
||||
// }
|
||||
// ],
|
||||
// "header": {
|
||||
// "seq": 13516,
|
||||
// "frame_id": "",
|
||||
// "stamp": {
|
||||
// "secs": 1509348876,
|
||||
// "nsecs": 156902566
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
}
|
||||
@ -0,0 +1,37 @@
|
||||
package com.jilk.ros.message.ros.nav;
|
||||
|
||||
import java.util.HashMap;
|
||||
import java.util.List;
|
||||
|
||||
/**
|
||||
* 存储导航对象
|
||||
* Created by super_yu on 27/10/2017.
|
||||
*/
|
||||
|
||||
public class NavPublich {
|
||||
|
||||
private List<String> wayPointsNames;
|
||||
|
||||
private HashMap<String, TMove_Base_Goal> navPublishHashMap;
|
||||
|
||||
public List<String> getWayPointsNames() {
|
||||
return wayPointsNames;
|
||||
}
|
||||
|
||||
public void setWayPointsNames(List<String> wayPointsNames) {
|
||||
this.wayPointsNames = wayPointsNames;
|
||||
}
|
||||
|
||||
public HashMap<String, TMove_Base_Goal> getNavPublishHashMap() {
|
||||
return navPublishHashMap;
|
||||
}
|
||||
|
||||
public void setNavPublishHashMap(HashMap<String, TMove_Base_Goal> navPublishHashMap) {
|
||||
this.navPublishHashMap = navPublishHashMap;
|
||||
}
|
||||
|
||||
public void clear() {
|
||||
if (wayPointsNames != null) wayPointsNames.clear();
|
||||
if (navPublishHashMap != null) navPublishHashMap.clear();
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,402 @@
|
||||
package com.jilk.ros.message.ros.nav;
|
||||
|
||||
/**
|
||||
* Created by super_yu on 30/10/2017.
|
||||
*/
|
||||
|
||||
public class TMove_Base_Goal {
|
||||
/**
|
||||
* op : publish
|
||||
* topic : /move_base/goal
|
||||
* msg : {"header":{"seq":0,"stamp":{"secs":0,"nsecs":0},"frame_id":"map"},"goal_id":{"stamp":{"secs":0,"nsecs":0},"id":"map_6_A_601"},"goal":{"target_pose":{"header":{"seq":0,"stamp":{"secs":0,"nsecs":0},"frame_id":"map"},"pose":{"position":{"z":2.96803E-4,"x":-5.56034,"y":0.543951},"orientation":{"z":-0.688561,"x":0.00455891,"w":0.72508,"y":0.0110448}}}}}
|
||||
*/
|
||||
private String op = "publish";
|
||||
private String topic = "/move_base/goal";
|
||||
private MsgBean msg;
|
||||
|
||||
public String getOp() {
|
||||
return op;
|
||||
}
|
||||
|
||||
public String getTopic() {
|
||||
return topic;
|
||||
}
|
||||
|
||||
public MsgBean getMsg() {
|
||||
return msg;
|
||||
}
|
||||
|
||||
public void setMsg(MsgBean msg) {
|
||||
this.msg = msg;
|
||||
}
|
||||
|
||||
public static class MsgBean {
|
||||
/**
|
||||
* header : {"seq":0,"stamp":{"secs":0,"nsecs":0},"frame_id":"map"}
|
||||
* goal_id : {"stamp":{"secs":0,"nsecs":0},"id":"map_6_A_601"}
|
||||
* goal : {"target_pose":{"header":{"seq":0,"stamp":{"secs":0,"nsecs":0},"frame_id":"map"},"pose":{"position":{"z":2.96803E-4,"x":-5.56034,"y":0.543951},"orientation":{"z":-0.688561,"x":0.00455891,"w":0.72508,"y":0.0110448}}}}
|
||||
*/
|
||||
|
||||
private HeaderBean header;
|
||||
private GoalIdBean goal_id;
|
||||
private GoalBean goal;
|
||||
|
||||
public HeaderBean getHeader() {
|
||||
return header;
|
||||
}
|
||||
|
||||
public void setHeader(HeaderBean header) {
|
||||
this.header = header;
|
||||
}
|
||||
|
||||
public GoalIdBean getGoal_id() {
|
||||
return goal_id;
|
||||
}
|
||||
|
||||
public void setGoal_id(GoalIdBean goal_id) {
|
||||
this.goal_id = goal_id;
|
||||
}
|
||||
|
||||
public GoalBean getGoal() {
|
||||
return goal;
|
||||
}
|
||||
|
||||
public void setGoal(GoalBean goal) {
|
||||
this.goal = goal;
|
||||
}
|
||||
|
||||
public static class HeaderBean {
|
||||
/**
|
||||
* seq : 0
|
||||
* stamp : {"secs":0,"nsecs":0}
|
||||
* frame_id : map
|
||||
*/
|
||||
|
||||
private int seq = 0;
|
||||
private StampBean stamp;
|
||||
private String frame_id = "map";
|
||||
|
||||
public int getSeq() {
|
||||
return seq;
|
||||
}
|
||||
|
||||
public StampBean getStamp() {
|
||||
return stamp;
|
||||
}
|
||||
|
||||
public void setStamp(StampBean stamp) {
|
||||
this.stamp = stamp;
|
||||
}
|
||||
|
||||
public String getFrame_id() {
|
||||
return frame_id;
|
||||
}
|
||||
|
||||
public static class StampBean {
|
||||
/**
|
||||
* secs : 0
|
||||
* nsecs : 0
|
||||
*/
|
||||
|
||||
private int secs = 0;
|
||||
private int nsecs = 0;
|
||||
|
||||
public int getSecs() {
|
||||
return secs;
|
||||
}
|
||||
|
||||
public int getNsecs() {
|
||||
return nsecs;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public static class GoalIdBean {
|
||||
/**
|
||||
* stamp : {"secs":0,"nsecs":0}
|
||||
* id : map_6_A_601
|
||||
*/
|
||||
|
||||
private StampBeanX stamp;
|
||||
|
||||
private String id;
|
||||
|
||||
public StampBeanX getStamp() {
|
||||
return stamp;
|
||||
}
|
||||
|
||||
public void setStamp(StampBeanX stamp) {
|
||||
this.stamp = stamp;
|
||||
}
|
||||
|
||||
public void setId(String id) {
|
||||
this.id = id;
|
||||
}
|
||||
|
||||
public String getId() {
|
||||
return id;
|
||||
}
|
||||
|
||||
public static class StampBeanX {
|
||||
/**
|
||||
* secs : 0
|
||||
* nsecs : 0
|
||||
*/
|
||||
|
||||
private int secs = 0;
|
||||
private int nsecs = 0;
|
||||
|
||||
public int getSecs() {
|
||||
return secs;
|
||||
}
|
||||
|
||||
public int getNsecs() {
|
||||
return nsecs;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public static class GoalBean {
|
||||
/**
|
||||
* target_pose : {"header":{"seq":0,"stamp":{"secs":0,"nsecs":0},"frame_id":"map"},"pose":{"position":{"z":2.96803E-4,"x":-5.56034,"y":0.543951},"orientation":{"z":-0.688561,"x":0.00455891,"w":0.72508,"y":0.0110448}}}
|
||||
*/
|
||||
|
||||
private TargetPoseBean target_pose;
|
||||
|
||||
public TargetPoseBean getTarget_pose() {
|
||||
return target_pose;
|
||||
}
|
||||
|
||||
public void setTarget_pose(TargetPoseBean target_pose) {
|
||||
this.target_pose = target_pose;
|
||||
}
|
||||
|
||||
public static class TargetPoseBean {
|
||||
/**
|
||||
* header : {"seq":0,"stamp":{"secs":0,"nsecs":0},"frame_id":"map"}
|
||||
* pose : {"position":{"z":2.96803E-4,"x":-5.56034,"y":0.543951},"orientation":{"z":-0.688561,"x":0.00455891,"w":0.72508,"y":0.0110448}}
|
||||
*/
|
||||
|
||||
private HeaderBeanX header;
|
||||
private PoseBean pose;
|
||||
|
||||
public HeaderBeanX getHeader() {
|
||||
return header;
|
||||
}
|
||||
|
||||
public void setHeader(HeaderBeanX header) {
|
||||
this.header = header;
|
||||
}
|
||||
|
||||
public PoseBean getPose() {
|
||||
return pose;
|
||||
}
|
||||
|
||||
public void setPose(PoseBean pose) {
|
||||
this.pose = pose;
|
||||
}
|
||||
|
||||
public static class HeaderBeanX {
|
||||
/**
|
||||
* seq : 0
|
||||
* stamp : {"secs":0,"nsecs":0}
|
||||
* frame_id : map
|
||||
*/
|
||||
|
||||
private int seq = 0;
|
||||
private StampBeanXX stamp;
|
||||
private String frame_id = "map";
|
||||
|
||||
public int getSeq() {
|
||||
return seq;
|
||||
}
|
||||
|
||||
public StampBeanXX getStamp() {
|
||||
return stamp;
|
||||
}
|
||||
|
||||
public void setStamp(StampBeanXX stamp) {
|
||||
this.stamp = stamp;
|
||||
}
|
||||
|
||||
public String getFrame_id() {
|
||||
return frame_id;
|
||||
}
|
||||
|
||||
public static class StampBeanXX {
|
||||
/**
|
||||
* secs : 0
|
||||
* nsecs : 0
|
||||
*/
|
||||
|
||||
private int secs = 0;
|
||||
private int nsecs = 0;
|
||||
|
||||
public int getSecs() {
|
||||
return secs;
|
||||
}
|
||||
|
||||
public int getNsecs() {
|
||||
return nsecs;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public static class PoseBean {
|
||||
/**
|
||||
* position : {"z":2.96803E-4,"x":-5.56034,"y":0.543951}
|
||||
* orientation : {"z":-0.688561,"x":0.00455891,"w":0.72508,"y":0.0110448}
|
||||
*/
|
||||
|
||||
private PositionBean position;
|
||||
private OrientationBean orientation;
|
||||
|
||||
public PositionBean getPosition() {
|
||||
return position;
|
||||
}
|
||||
|
||||
public void setPosition(PositionBean position) {
|
||||
this.position = position;
|
||||
}
|
||||
|
||||
public OrientationBean getOrientation() {
|
||||
return orientation;
|
||||
}
|
||||
|
||||
public void setOrientation(OrientationBean orientation) {
|
||||
this.orientation = orientation;
|
||||
}
|
||||
|
||||
public static class PositionBean {
|
||||
/**
|
||||
* z : 2.96803E-4
|
||||
* x : -5.56034
|
||||
* y : 0.543951
|
||||
*/
|
||||
|
||||
private double z;
|
||||
private double x;
|
||||
private double y;
|
||||
|
||||
public double getZ() {
|
||||
return z;
|
||||
}
|
||||
|
||||
public void setZ(double z) {
|
||||
this.z = z;
|
||||
}
|
||||
|
||||
public double getX() {
|
||||
return x;
|
||||
}
|
||||
|
||||
public void setX(double x) {
|
||||
this.x = x;
|
||||
}
|
||||
|
||||
public double getY() {
|
||||
return y;
|
||||
}
|
||||
|
||||
public void setY(double y) {
|
||||
this.y = y;
|
||||
}
|
||||
}
|
||||
|
||||
public static class OrientationBean {
|
||||
/**
|
||||
* z : -0.688561
|
||||
* x : 0.00455891
|
||||
* w : 0.72508
|
||||
* y : 0.0110448
|
||||
*/
|
||||
|
||||
private double z;
|
||||
private double x;
|
||||
private double w;
|
||||
private double y;
|
||||
|
||||
public double getZ() {
|
||||
return z;
|
||||
}
|
||||
|
||||
public void setZ(double z) {
|
||||
this.z = z;
|
||||
}
|
||||
|
||||
public double getX() {
|
||||
return x;
|
||||
}
|
||||
|
||||
public void setX(double x) {
|
||||
this.x = x;
|
||||
}
|
||||
|
||||
public double getW() {
|
||||
return w;
|
||||
}
|
||||
|
||||
public void setW(double w) {
|
||||
this.w = w;
|
||||
}
|
||||
|
||||
public double getY() {
|
||||
return y;
|
||||
}
|
||||
|
||||
public void setY(double y) {
|
||||
this.y = y;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// {
|
||||
// "op": "publish",
|
||||
// "topic": "/move_base/goal",
|
||||
// "msg": {
|
||||
// "header": {
|
||||
// "seq": 0,
|
||||
// "stamp": {
|
||||
// "secs": 0,
|
||||
// "nsecs": 0
|
||||
// },
|
||||
// "frame_id": "map"
|
||||
// },
|
||||
// "goal_id": {
|
||||
// "stamp": {
|
||||
// "secs": 0,
|
||||
// "nsecs": 0
|
||||
// },
|
||||
// "id": "map_6_A_601"
|
||||
// },
|
||||
// "goal": {
|
||||
// "target_pose": {
|
||||
// "header": {
|
||||
// "seq": 0,
|
||||
// "stamp": {
|
||||
// "secs": 0,
|
||||
// "nsecs": 0
|
||||
// },
|
||||
// "frame_id": "map"
|
||||
// },
|
||||
// "pose": {
|
||||
// "position": {
|
||||
// "z": 0.000296803,
|
||||
// "x": -5.56034,
|
||||
// "y": 0.543951
|
||||
// },
|
||||
// "orientation": {
|
||||
// "z": -0.688561,
|
||||
// "x": 0.00455891,
|
||||
// "w": 0.72508,
|
||||
// "y": 0.0110448
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
}
|
||||
@ -0,0 +1,22 @@
|
||||
package com.jilk.ros.message.ros.net;
|
||||
|
||||
import android.content.BroadcastReceiver;
|
||||
import android.content.Context;
|
||||
import android.content.Intent;
|
||||
import android.net.ConnectivityManager;
|
||||
|
||||
|
||||
/**
|
||||
* Created by Administrator on 2017/5/22 0022.
|
||||
*/
|
||||
|
||||
public class NetBroadcastReceiver extends BroadcastReceiver {
|
||||
@Override
|
||||
public void onReceive(Context context, Intent intent) {
|
||||
// TODO Auto-generated method stub
|
||||
// 如果相等的话就说明网络状态发生了变化
|
||||
if (intent.getAction().equals(ConnectivityManager.CONNECTIVITY_ACTION)) {
|
||||
int netWorkState = NetUtil.getNetWorkState(context);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,49 @@
|
||||
package com.jilk.ros.message.ros.net;
|
||||
|
||||
import android.content.Context;
|
||||
import android.net.ConnectivityManager;
|
||||
import android.net.NetworkInfo;
|
||||
|
||||
/**
|
||||
* Created by Administrator on 2017/5/22 0022.
|
||||
*/
|
||||
|
||||
public class NetUtil {
|
||||
|
||||
/**
|
||||
* 没有连接网络
|
||||
*/
|
||||
private static final int NETWORK_NONE = -1;
|
||||
/**
|
||||
* 移动网络
|
||||
*/
|
||||
private static final int NETWORK_MOBILE = 0;
|
||||
/**
|
||||
* 无线网络
|
||||
*/
|
||||
private static final int NETWORK_WIFI = 1;
|
||||
|
||||
public static int getNetWorkState(Context context) {
|
||||
// 得到连接管理器对象
|
||||
ConnectivityManager connectivityManager = (ConnectivityManager) context
|
||||
.getSystemService(Context.CONNECTIVITY_SERVICE);
|
||||
|
||||
NetworkInfo activeNetworkInfo = connectivityManager
|
||||
.getActiveNetworkInfo();
|
||||
if (activeNetworkInfo != null && activeNetworkInfo.isConnected()) {
|
||||
|
||||
if (activeNetworkInfo.getType() == (ConnectivityManager.TYPE_WIFI)) {
|
||||
return NETWORK_WIFI;
|
||||
} else if (activeNetworkInfo.getType() == (ConnectivityManager.TYPE_MOBILE)) {
|
||||
return NETWORK_MOBILE;
|
||||
}
|
||||
} else {
|
||||
return NETWORK_NONE;
|
||||
}
|
||||
return NETWORK_NONE;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
File diff suppressed because one or more lines are too long
@ -0,0 +1,27 @@
|
||||
/**
|
||||
* Copyright (c) 2014 Jilk Systems, Inc.
|
||||
*
|
||||
* This file is part of the Java ROSBridge Client.
|
||||
*
|
||||
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||
*
|
||||
*/
|
||||
package com.jilk.ros.message.ros.rosapi.message;
|
||||
|
||||
import com.jilk.ros.message.ros.message.Message;
|
||||
import com.jilk.ros.message.ros.message.MessageType;
|
||||
|
||||
@MessageType(string = "std_msgs/Empty")
|
||||
public class Empty extends Message {
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in new issue