Skip to content
GitLab
Projects
Groups
Snippets
Help
Loading...
Help
What's new
7
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Open sidebar
irstea-ros
ads1115_driver
Commits
6c3da0c1
Commit
6c3da0c1
authored
May 30, 2018
by
Rousseau Vincent
Browse files
Options
Browse Files
Download
Email Patches
Plain Diff
ROS1 node
parent
df439306
Changes
4
Hide whitespace changes
Inline
Side-by-side
Showing
4 changed files
with
129 additions
and
21 deletions
+129
-21
CMakeLists.txt
CMakeLists.txt
+118
-0
package.xml
package.xml
+4
-6
resource/ads1115_driver
resource/ads1115_driver
+0
-0
scripts/ads1115_node.py
scripts/ads1115_node.py
+7
-15
No files found.
CMakeLists.txt
0 → 100644
View file @
6c3da0c1
cmake_minimum_required
(
VERSION 2.8.3
)
project
(
ads1115_driver
)
set
(
${
PROJECT_NAME
}
_CATKIN_DEPS rospy
)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package
(
catkin REQUIRED COMPONENTS
${${
PROJECT_NAME
}
_CATKIN_DEPS
}
)
## 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 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 run_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 ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package
(
# INCLUDE_DIRS include
# LIBRARIES ads1115_driver
CATKIN_DEPENDS
${${
PROJECT_NAME
}
_CATKIN_DEPS
}
# DEPENDS system_lib
)
###########
## Build ##
###########
include_directories
(
include
${
catkin_INCLUDE_DIRS
}
)
## Declare a C++ library
# add_library(ads1115_driver
# src/${PROJECT_NAME}/ads1115_driver.cpp
# )
## Declare a C++ executable
# add_executable(ads1115_driver_node src/ads1115_driver_node.cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(ads1115_driver_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
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ads1115_driver ads1115_driver_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${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_ads1115_driver.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)
package.xml
View file @
6c3da0c1
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format
3
.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package
format=
"
3
"
>
<?xml-model href="http://download.ros.org/schema/package_format
2
.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package
format=
"
2
"
>
<name>
ads1115_driver
</name>
<version>
0.1.0
</version>
<description>
...
...
@@ -11,14 +11,12 @@
<author
email=
"vincent.rousseau@irstea.fr"
>
Vincent Rousseau
</author>
<exec_depend>
rclpy
</exec_depend>
<buildtool_depend>
catkin
</buildtool_depend>
<depend>
rospy
</depend>
<exec_depend>
std_msgs
</exec_depend>
<test_depend>
ament_copyright
</test_depend>
<test_depend>
ament_flake8
</test_depend>
<test_depend>
ament_pep257
</test_depend>
<export>
<build_type>
ament_python
</build_type>
</export>
</package>
resource/ads1115_driver
deleted
100644 → 0
View file @
df439306
scripts/ads1115_node.py
100644 → 100755
View file @
6c3da0c1
...
...
@@ -12,19 +12,15 @@
# See the License for the specific language governing permissions and
# limitations under the License.
import
rclpy
from
rclpy.node
import
Node
import
rospy
from
std_msgs.msg
import
Float32
import
Adafruit_ADS1x15
class
ADS1115
(
Node
):
class
ADS1115
(
object
):
def
__init__
(
self
,
channel
):
super
().
__init__
(
'ads1115'
)
self
.
adc
=
Adafruit_ADS1x15
.
ADS1115
()
# Choose a gain of 1 for reading voltages from 0 to 4.09V.
...
...
@@ -40,10 +36,11 @@ class ADS1115(Node):
self
.
adc
.
start_adc
(
channel
,
gain
=
gain
)
# Anonymous topic ?
self
.
pub
=
self
.
create_publisher
(
Float32
,
'chatter'
)
self
.
pub
=
rospy
.
Publisher
(
'chatter'
,
Float32
,
queue_size
=
10
)
timer_period
=
0.01
# in second
self
.
tmr
=
self
.
create_timer
(
timer_period
,
self
.
timer_callback
)
self
.
timer
=
rospy
.
Timer
(
rospy
.
Duration
(
timer_period
),
self
.
timer_callback
)
rospy
.
spin
()
def
timer_callback
(
self
):
msg
=
Float32
()
...
...
@@ -51,20 +48,15 @@ class ADS1115(Node):
# https://github.com/kentegrate/rpi_drivers/blob/master/include/rpi_drivers/ads1115.hpp
# https://github.com/jrowberg/i2cdevlib/blob/master/Arduino/ADS1115/ADS1115.h
msg
.
data
=
self
.
adc
.
get_last_result
()
*
0.125000
self
.
get_logger
().
info
(
'Publishing: "{0}"'
.
format
(
msg
.
data
))
rospy
.
log
info
(
'Publishing: "{0}"'
.
format
(
msg
.
data
))
self
.
pub
.
publish
(
msg
)
def
main
(
args
=
None
):
r
cl
py
.
init
(
args
=
args
)
r
os
py
.
init
_node
(
'ads1115'
,
anonymous
=
True
)
node
=
ADS1115
(
0
)
rclpy
.
spin
(
node
)
node
.
destroy_node
()
rclpy
.
shutdown
()
if
__name__
==
'__main__'
:
main
()
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
.
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment