ROS1 node

CMakeLists.txt

+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

 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
+<?xml-model href="http://download.ros.org/schema/package_format2.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>

scripts/ads1115_node.py

@@ -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.loginfo('Publishing: "{0}"'.format(msg.data))
         self.pub.publish(msg)
 
 
 def main(args=None):
-    rclpy.init(args=args)
+    rospy.init_node('ads1115', anonymous=True)
 
     node = ADS1115(0)
 
-    rclpy.spin(node)
-
-    node.destroy_node()
-    rclpy.shutdown()
-
 
 if __name__ == '__main__':
     main()